An energy-saving optimization method for cyclic pick-and-place tasks based on flexible joint configurations

被引：18

作者：

Feng, Yixiong ^{[1
,3
]}

Ji, Zengwei ^{[1
]}

Gao, Yicong ^{[1
]}

Zheng, Hao ^{[2
]}

Tan, Jianrong ^{[1
]}

机构：

[1] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China

[2] Beihang Univ, Hangzhou Innovat Inst, Hangzhou 310052, Peoples R China

[3] Zhejiang Univ, Key Lab Adv Mfg Technol Zhejiang Prov, Hangzhou 310027, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2021年 / 67卷 / 67期

基金：

中国国家自然科学基金;

关键词：

Energy-efficiency; Flexible joint configuration; Cyclic pick-and-place task; Optimization; CONSUMPTION; ROBOT; MOTION; TRAJECTORIES; DESIGN; CELLS;

D O I：

10.1016/j.rcim.2020.102037

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Optimizing the energy consumption of robot movements becomes one of the increasingly important issues in industry. Minimizing a robot's movement has been identified as one of the strategies to improve energy efficiency in robotic systems. In this paper, a mathematical model of the total energy consumption of cycle pick-and- place tasks is proposed, which considers operating motion and homing motion of a given trajectory with different joint configurations. Optimal joint configurations for cyclic pick-and-place tasks are investigated in order to maximize energy saving. Finally, a case study is described to illustrate the proposed method and the results show that compared with fixed joint configurations, the proposed method based on flexible joint configurations reduces the energy consumption by 10.33%.

引用

页数：13

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