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Energy consumption of three-link manipulators as a function of geometric features and trajectory parameters

Published online by Cambridge University Press:  09 March 2009

A. Klein
A. Klein
Affiliation:
Computer and Automation Institute, 1111 Budapest, Kende u. 13–17. ( Hungary )
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Summary

The method of parametric optimization is applied to the energy analysis of the motion of three-link manipulators. The quality criterion is the energy consumption along 1 m of the path. It consists of two parts: 1) The sum of the products of joint moments and relative joint velocities (an equivalent of the mechanical work); 2) a quadratic form of joint velocities (an analogue of dissipation losses). Typical spatial motions are studied: the hand of the robot moves along a straight line from an initial position to another one, and returns to the start. Several velocity function shapes (parabolic, sinusoidal, and triangular), both symmetric and non-symmetric ones, are considered. The dependence of the energy consumption on the velocity form, on the trajectory parameters and on mechanical and geometrical characteristics of links is discussed.

Type
Article
Information
Robotica , Volume 1 , Issue 2 , April 1983 , pp. 79 - 83
Copyright
Copyright © Cambridge University Press 1983

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References

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