Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

Abstract

Enhancing energy efficiency is one of the main challenges of today’s industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal position of the task relative to the robot can indeed reduce the actuators’ effort and the energy consumption required to complete the considered operation. The dynamic and electro-mechanical models of the manipulators are developed and implemented to estimate the energy consumption of a parametrized motion with trapezoidal speed profile, i.e., a pick-and-place operation. Numerical results provide energy consumption maps that can be adopted to place the starting and ending points of the task in the more energy-efficient location within the robot workspace.

Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

“…Last, Figure 12 shows the application of the controller to a step-tracking problem, that represents a typical pick-and-place task [37,38]. A sequence of step references to move the end-effector to the target value x ee = 0.1 m is applied.…”

“…These provide a satisfying agreement for the open-loop and closed-loop system with k, while in case of k 0 the experimental results do not match with the expected numerical results. It is evident that improving robustness is mandatory to enable for practical applications with adequate and reliable performances.Last, Figure12shows the application of the controller to a step-tracking problem, that represents a typical pick-and-place task[37,38]. A sequence of step references to move the end-effector to the target value x ee = 0.1 m is applied.…”

Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

“…The platform consists of four elements—two main parts joined with two connectors with the use of rotating joints. Such construction is in the form of a flat articulated quadrangle and provides a rotating movement along the vertical axis (the fourth degree of freedom) [ 25 ]. The constructional range of platform movement is only ±45°.…”

“…The constructional range of platform movement is only ±45°. Thus, in a prototype construction, the constructors of Par4 [ 25 , 26 , 27 ] robots applied a special multiplying mechanism which enables a full movement ±180°. Robots have a belt drive (1:4 position) with the first wheel rigidly fixed on the first part of the moveable platform, and the second one joined with the second main part of the articulated quadrangle of the platform with the use of a rotating joint.…”

“…The determined parameters of the fluctuating response of the object(25) and calculated PID controller settings.…”