Kinematics approach to energy efficiency for non-holonomic underactuated robotics in sustainable manufacturing

Abstract

As the energy efficiency is a worldwide topic for sustainability in sustainable manufacturing, the industry ought to undertake the responsibility in a low energy manner. For energy efficiency, this paper proposed a novel lightweight non-holonomic spherical underactuated robot (NSUR) with lower energy consumption and fewer actuators than traditional robotics. The kinematics of a robot refers to the motion analysis, such as coordinates, velocity, and acceleration. However, current researches always focus on the holonomic full-actuated robot. This paper is devoted to a kind of novel NSUR and its theoretical kinematics analysis model. After NSUR was introduced, the kinematic representation of NSUR was discussed. A pair inverse and forward kinematics analysis of NSUR was put forward in detail. The kinematic analysis of joint of underactuated robot, as the application of NSUR, is applied to explain and verify this methodology. The measurements and comparisons of energy efficiency between NSUR and traditional robotics are also derived in detail.

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

“…With the continuous development of automation technology, scholars have focused on the motion control problem of mechanical systems [18,19]. As a lot of work in space exploration and ocean engineering is carried out in a weightless or microgravity environment, the planar manipulator-without considering the effect of gravity-is the main actuator inside.…”