Simple motion trajectory generation for energy saving of industrial machines

Ho, Phat Minh; Uchiyama, Naoki; Sano, Shigenori; Sawada, Kohei; Kato, Akira; Yonezawa, Takahiro

doi:10.1109/sii.2012.6427362

Cited by 5 publications

(1 citation statement)

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“…The importance of this concept is testified by abundant literature including both theoretical and experimental studies for enhancing the energy efficiency in manipulators and automatic machines [23]. The main approaches to achieve this goal are: (1) the proper choice of the manipulator type, [24] (2) designing lightweight manipulators with lower inertia, [25,26] (3) optimization of manipulator structure, [27] using regenerative drive systems, [28,29] trajectory planning and motion planning, [30,31,32] applying redundancy on non-redundant manipulators, [33,34,35,36] optimizing location of the task with respect to the base of the manipulator [37,38] and joint force/torque minimization [13,39,40] and introduction of complaint or elastic elements into the manipulator [41,42].…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Zarkandi

2021

Robotica

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Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

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