Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: Application to the Orthoglide

Abstract

This paper deals with the multi-objective path placement optimization for Parallel Kinematics Machines (PKMs) based on energy consumption, actuators torques and shaking forces. It aims at determining the optimal location of a given test path within the workspace of a PKM in order to minimize the electric energy used by the actuators, their maximal torque and the shaking forces subject to the kinematic, dynamic and geometric constraints. The proposed methodology is applied to the Orthoglide, a three-degree-of-freedom translational PKM, as an illustrative example.

Optimización de manipulabilidad y consumo eléctrico mediante el Algoritmo Heurístico de Kalman en manipuladores seriales

“…Debe tenerse en cuenta que la Ecuación (9) de la corriente I, permite considerar la energía utilizada por los actuadores cuando estos no se mueven, pero producen un torque que mantiene el manipulador en una cierta configuración estacionaria (respecto a una dirección particular del actuador), suficiente para resistir la gravedad [7].…”

“…Adicionalmente este criterio permite considerar la pér-dida de energía resistiva en el bobinado del motor, al igual que la perdida de energía debido a las variaciones en las velocidades del actuador. Estas variaciones afectan los requerimientos de corriente y por lo tanto inducen fuerzas electromotrices en los actuadores [7].…”

Optimization of machining processes from the perspective of energy consumption: A case study

“…In the path planning of cooperation for multiple manipulators, Garg and Kumar [43] used the minimized torque as their design objective; the optimization was conducted by Genetic Algorithm. UR-Rehman et al [44] considered the path placement optimization for Orthoglide parallel robots; the multi-objective design criteria include energy consumption, shaking forces and maximum actuators torques. One consideration in the machining cell is the relative location between the workpiece and a machine tool.…”

Dynamic performance evaluation for a 3UPS-PRU parallel robot

“…For the parallel robot with symmetrical structure, the kinematic performance index may take no effect when the end effector is on the centerline of the work space. 17 The criteria used for the rigid-body dynamic performance evaluation of the parallel robots are usually balance, [23][24][25] dynamic isotropy, 26,27 torque index, 3,[28][29][30][31] power index, 3,30,31 natural frequency, 2,28,32 dynamic response, 33 power requirement, 14,31,34,35 energy efficiency, [36][37][38][39] and so on. Zhao 3,31 introduced a torque index and a power index considering the acceleration component of torque, the velocity component of torque, and the gravity component of torque in the rigid-body dynamic model.…”