Energy consumption and dynamic behavior analysis of a six-axis industrial robot in an assembly system

被引：48

作者：

Paryanto ^{[1
]}

Brossog, Matthias ^{[1
]}

Kohl, Johannes ^{[1
]}

Merhof, Jochen ^{[1
]}

Spreng, Simon ^{[1
]}

Franke, Joerg ^{[1
]}

机构：

[1] Univ Erlangen Nurnberg, Inst Factory Automat & Prod Syst FAPS, D-91058 Erlangen, Germany

来源：

5TH CATS 2014 - CIRP CONFERENCE ON ASSEMBLY TECHNOLOGIES AND SYSTEMS | 2014年 / 23卷

关键词：

Energy consumption; Industrial robot; Modeling and simulation; Validation; Dynamic behavior;

D O I：

10.1016/j.procir.2014.10.091

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents an experimental study to validate a dynamic model of a six-axis industrial robot as part of an assembly system and to analyze its power consumption as well as its dynamic behavior. Furthermore, the effect of robot operating parameters (i.e., payload and speed) on the power consumption and the dynamic behavior are analyzed. The investigation shows that the comparative study between simulation and experimental results can be used to improve the model's accuracy and prove that the simulation model represents the real system. Both simulation and experimental results show that the robot operating parameters strongly influence the industrial robot's power consumption and dynamic behavior. (C) 2014 The Authors. Published by Elsevier B.V.

引用

页码：131 / 136

页数：6

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