Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
AN ANALYSIS OF ENERGY CONSUMPTION AND AVERAGE POWER IN A TWO-ARM VERTICAL PLANAR ROBOT FOR DIFFERENT TRAJECTORIES
Submission Author:
Matheus Ungaretti Borges , MG
Co-Authors:
Matheus Ungaretti Borges, Fernando Augusto Araujo Pinto, Eduardo Lima II
Presenter: Matheus Ungaretti Borges
doi://10.26678/ABCM.COBEM2019.COB2019-0753
Abstract
With the advent of 4.0 industry robotic systems are being widely applied on manufacturing processes in order to improve the comprehension in areas such as trajectory planning, collision tracking and time optimisation. By researching these themes, robotic systems can perform better their tasks executing movements with precision and avoiding moving obstacles, e.g. humans and other robotic manipulators. Nowadays, hundreds of robotic manipulators are being used together in industries. Thus, understanding their dynamic behaviour is essential to further integrate them. In this context, even a small amount of energy saved per manipulator makes the difference. Despite the relevance of this topic, there are only few papers regarding manipulator's energy. In this paper, a two-arm vertical planar robotic manipulator with two degrees-of-freedom is modelled to analyse a movement from one point to another and to evaluate the energy consumption and the average power. The maximum velocity and the maximum acceleration an arm can reach are the parameters used in this study. In conjunction with a set of arms properties (length, diameter, material density, weight and inertial momentum) it is calculated the energy spent and average power to execute a movement. In this study, the influence of these parameters on the energy and power is analysed. Thus, the comprehension of this system can be further used to improve the design and also to define the best set of parameters to execute a task.
Keywords
automation, Robotics, Robotic manipulator, Energy consumption
