Energy-saving method of parallel mechanism by redundant actuation

Abstract

This paper presents a novel energy-saving method of a robotic system utilizing parallel mechanism by redundant actuation. The redundantly actuated system can distribute arbitrary actuating torques in a certain combination. By using this feature, the regenerative power dissipation and electric power loss are reduced. Moreover, the redundant actuation can reduce the peak torque of actuating joints. This feature reduces the friction loss because we can use a smaller gear reducer. A parallel manipulator with two degrees of freedom is simulated as a case study. The energy consumption of the robotic system is modeled by analyzing the type of energy consumption in actuation systems. An optimization process is proposed to maximize the energy-saving effect. The results show that 26.1% of electric energy can be saved by redundant actuation.

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

“…The selection of more energy-efficient mechatronic and robotic systems available for a given application [4,5,11,19]. 2.…”

“…Through the proper choice of available automation system for a given application, an energy enhancement can be achieved, meanwhile keeping the productivity [4,5,11,19]. In [4], a comparison between parallel and serial manipulator configurations of a similar workspace and payload is carried out.…”

“…In [11,19], the effect of the kinematic redundancy insertion on the energy demand of parallel manipulators is considered. In this case, the redundantly actuated system can distribute arbitrary actuating torques in a certain combination; thus that which is more efficient can be chosen.…”

“…Similarly, in [19], a comparison between a 3 Revolute joints (3RRR), non-redundant, planar, parallel manipulator and its kinematically redundant versions is performed, demonstrating that an energy-consumption reduction can be obtained in the second case. In [11], a robotic system based on a parallel mechanism with redundant actuation is evaluated, showing possibilities to reduce electric power loss, peak torque of actuating joints and friction loss. [4] 2001 Conference paper Robot type --3-DoFs parallel manipulator and serial manipulator [5] 2014 Conference paper Robot type --Underactuated serial kinematics [11] 2015 Journal paper Robot type --Parallel manipulator with redundant actuation [19] 2015 Conference paper Robot type --Parallel manipulator with redundant actuation (3RRR) [15] 2010 Review Replacement Electric actuator -Generic mechatronic system [17] 2009 Journal paper Replacement Pneumatic -Generic pneumatic system [7] 2002 Conference paper Replacement Reduction of components weight Lighter arms Redundant serial robot (7 DoFs) [18] 2016 Conference paper Replacement Reduction of components weight Lighter arms Serial robot (5 DoFs) [1] 2007 Journal paper Replacement Reduction of components weight Lighter joints Redundant serial robot (7 DoFs) [6] 2008 Journal paper Replacement Reduction of components weight Lighter joints Redundant serial robot (7 DoFs) [2] 2016 Conference paper Replacement Moving the actuators at the base -Serial robot (3 DoFs) [10] 2015 Conference paper Replacement Moving the actuators at the base -Elbow joint (1 DoF) wrist joint (3 DoFs) [12] 1993 Journal paper Replacement Moving the actuators at the base -Redundant serial robot (7 DoFs) [16] 2012 Journal paper Replacement Moving the actuators at the base -Underactuated serial kinematics [20] 2015 Conference paper Addition Energy-storing devices Flywheel Serial robot (6 DoFs)-ABB IRB 140 [21] 2011 Conference paper Addition Energy-storing devices Flywheel Serial robot (3 DoFs)-crane [22] 2012 Conference paper Addition Energy-storing devices Hydraulic Generic hydraulic system [23] 2014 Journal paper Addition Energy-storing devices Hydraulic Generic hydraulic system [24] 2011 Conference paper Addition Energy-storing devices Pneumatic Hybrid pneumatic/electric system [25] 2016 Conference paper Addition Energy-storing devices Pneumatic Generic pneumatic system [26] 2013 Conference paper Addition Energy-sto...…”

Trajectory Design for Energy Savings in Redundant Robotic Cells

“…Redundancy provides additional degrees of freedom to the solution of the inverse kinematic problem as well as to the choice of the motion profiles of the extra degrees of freedom. Increasing the number of degrees of freedom allows also to define a more energy efficient torque distribution among the actuators, as demonstrated for parallel robots in [18][19][20][21]. The work [18] analyzes several possible modifications to a planar kinematic robot, with the aim of finding the one that guarantees the higher energy savings, under a torque distribution managed by a predictive strategy.…”