Energy consumption analysis for an adaptive prototype of 3R industrial robot

This article presents a methodology to reduce the energy consumption of an industrial robot. We propose a design for a 3R serial manipulator of general geometry. We show an analytical model aiming to analyze the search space of architectures based on the torsion angles of the robot to determine the optimal architecture that allows the efficient use of energy. The analytical model provides a theoretical estimation of the energy consumption and is validated by monitoring the experimental robot. The numerical calculations obtained with a particular case reduced the energy consumption by approximately 7.5%.