Energy Consumption of Redundant Planar Parallel Manipulators: a Comprehensive Study.
Andrés Gómez Ruiz1; João Vitor de Carvalho Fontes1; Maíra Martins da Silva1
1 EESC-USP
doi:10.20906/CPS/COB-2015-2725
Resumo
One of the main purposes of the robotic industry nowadays is to improve the energy efficiency of their robots and manipulators. Hence, novel manipulators architectures have been widely studied during the last decades. On this respect, parallel manipulators represent an alternative to the classical serial manipulators. Several authors have shown that parallel manipulators possess some advantages when compared to serial ones: higher load-carrying capacity, improved accuracy, increased stiffness, among others. However, the common presence of singularities in parallel manipulators represents an important issue. Numerous works have proved that the addition of kinematic and actuation redundancy can promote a reduction of singularities in parallel manipulators. The objective of this manuscript is to investigate if redundancy is also a good alternative to design energy efficient machines. This is performed by the comparison between the non-redundant manipulator 3RRR, the actuated redundant manipulator 4RRR and the three times kinematically redundant manipulator 3(P)RRR, in terms of energy efficiency. In order to do so, the three manipulators are forced to execute a predefined trajectory. The rational use of the redundancy is defined by the minimization of the consumed energy along the trajectory using a genetic algorithm. The results show that the addition of redundancy may improve the energy efficiency of the parallel manipulators.
Palavras-chave: Energy Efficiency; Parallel Planar Manipulator; Redundancy