The Influence of Kinematic Redundancies in the Energy Efficiency of Planar Parallel Manipulators

Abstract

Parallel manipulators present advantages compared to serial ones, such as higher load-carrying capacity, improved accuracy and increased stiffness. However, parallel manipulators possess limitations due to the presence of singularities. It has been proved that kinematic and actuation redundancy promote a significant reduction in the singularities and homogenization on the actuation forces. This paper evaluates the effect of the addition of kinematic redundancy in the energy efficiency of parallel manipulators. In order to do so, the required mechanical energy consumed by a 3RRR non-redundant planar parallel manipulator and their kinematically redundant versions, to perform several predefined trajectories is minimized using a genetic algorithm. The result of the comparison shows that the required mechanical energy to perform a given trajectory can be reduced with the addition of kinematic redundancy.

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.…”

“…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.…”

Aplicação de redundância para atingir altas acelerações com manipuladores robóticos planares

“…Além disso, foram propostos os mapas dinâmicos que oferecem uma forma visual para o melhor entendimento do estudo dinâmico, além de ser calculado em toda a área de trabalho independentemente da trajetória de uma tarefa, assim criando os mapas. Mechanics Natal, Brazil Feb., 22-27, 2015. (Ruiz et al, 2015 5.3 Propostas para trabalhos futuros…”