ENERGY OPTIMAL ADAPTION AND MOTION PLANNING OF A 3-RRS BALANCED MANIPULATOR

Zhongxing Yang and Dan Zhang

Keywords

Dynamic balancing, parallel manipulators, optimization, adaptivestructure, motion planning, energy consumption

Abstract

This article discusses the relocation of manipulator joints and motion planning as methods to reduce energy consumption in robotic manipulators. A 3-RRS dynamically balanced parallel manipulator for manufacturing operation is designed and on which the numerical simulation is practiced for demonstration. The dynamically balanced robot contains additional balancing components and requires additional energy to drive, which makes energy problem signi´Čücant. Through the optimization of adjustable joint locations in supplement to motion planning, it promotes green operations of robots in energy saving while eliminating vibration and noise problems.

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