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 mo- tion 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 bal- anced 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 supple- ment to motion planning, it promotes green operations of robots in energy saving while eliminating vibration and noise problems.

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