Reduction Of Energy Consumption In Articulated Robot

• Main Author: Mohamad Isa, Kamarul Syaffiq
• Format: Thesis
• Language: English; English
• Published: 2018
• Subjects: T Technology (General); TJ Mechanical engineering and machinery
• Online Access: http://eprints.utem.edu.my/id/eprint/24693/; https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116931

Optimization is a process of finding an alternative with the highest achievable performance or the most cost effective under the given constraints, by minimizing undesired ones and maximizing desired factors. In this research, a study for optimal energy consumption in KUKA KR 16 articulated robot for pick-and-place task was done. In order to achieve the optimal energy consumption, an improve trajectory planning is required. Essentially, trajectory planning encompasses path planning in addition to planning how to move based on velocity, time, and kinematics. Trajectory planning gives a path from a starting configuration to a goal configuration by avoiding collisions in a 2D or 3D space. A configuration is the pose of a robot describing its position. Thus, the objective of this thesis is to study and analyze the PTP motion and Linear motion in order to determine which is the best motion that can improve the trajectory planning. This thesis proposed different method to achieve optimal energy consumption that is minimizing the movement for the first three main axes. The first three main axes are chosen because there are three big motors used to drive the axes. Unlike other optimization method, this method is much simpler in terms of development process and did not require any additional hardware to be install to the robot’s system. This will eventually be a cost effective optimization method. The scope of this research is to focus on the experiment process for pick-and-place task only. Two robots will be use in this research. KUKA KR 5 sixx R650 is use to study and analyze PTP and Linear motion while KUKA KR 16 is use to study the optimal energy consumption. The energy performance is measures with respect to two categories of movements known as Default and Optimal movement which do the same task repetitively within specific time. The result for PTP and Linear motion shows that PTP motion consumed 6% more energy than Linear motion but completed 773 cycles within one hour whereas Linear motion only completed 492 cycles.Energy performance between Default and Optimal movement shows that Optimal movement recorded 21.8% less energy usage when compared to Default movement although the total cycles completed for both movement almost the same.