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Article

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

by
Lorenzo Scalera
1,*,
Paolo Boscariol
2,
Giovanni Carabin
3,
Renato Vidoni
3 and
Alessandro Gasparetto
1
1
Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy
2
Department of Management and Engineering, University of Padova, 36100 Vicenza, Italy
3
Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy
*
Author to whom correspondence should be addressed.
†
This paper is an extended version of our paper published in Vidussi, F., Boscariol, P., Scalera, L., Gasparetto, A., Energetic analysis of industrial robots for pick-and-place operations. In Proceedings of the 25th Jc-IFToMM Symposium, 2nd International Jc-IFToMM Symposium, Kanagawa, Japan, 26 October 2019.
Machines 2020, 8(1), 10; https://doi.org/10.3390/machines8010010
Submission received: 6 February 2020 / Revised: 18 February 2020 / Accepted: 21 February 2020 / Published: 25 February 2020
(This article belongs to the Special Issue Selected Papers from Advances of Japanese Machine Design)
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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.
Keywords: robotics; dynamic model; parallel robot; task-related analysis; energy efficiency robotics; dynamic model; parallel robot; task-related analysis; energy efficiency

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MDPI and ACS Style

Scalera, L.; Boscariol, P.; Carabin, G.; Vidoni, R.; Gasparetto, A. Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis. Machines 2020, 8, 10. https://doi.org/10.3390/machines8010010

AMA Style

Scalera L, Boscariol P, Carabin G, Vidoni R, Gasparetto A. Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis. Machines. 2020; 8(1):10. https://doi.org/10.3390/machines8010010

Chicago/Turabian Style

Scalera, Lorenzo, Paolo Boscariol, Giovanni Carabin, Renato Vidoni, and Alessandro Gasparetto. 2020. "Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis" Machines 8, no. 1: 10. https://doi.org/10.3390/machines8010010

APA Style

Scalera, L., Boscariol, P., Carabin, G., Vidoni, R., & Gasparetto, A. (2020). Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis. Machines, 8(1), 10. https://doi.org/10.3390/machines8010010

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