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A methodology for evaluating energy-efficiency of different robot structures
Mälardalen University, School of Innovation, Design and Engineering, Innovation and Product Realisation.
ABB Robotics, Västerås, Sweden.
2017 (English)In: 2017 International Conference on Robotics and Automation Sciences, ICRAS 2017, Institute of Electrical and Electronics Engineers Inc. , 2017, p. 20-24Conference paper, Published paper (Refereed)
Abstract [en]

Evaluation of different robot structures is a difficult but relevant challenge. Providing tools and methods to allow robot designers or end-users to quantitatively compare robot structures is necessary because the variety of existing robot structures makes it hard to choose which one is the best suited for a specific task or for a new application process. This paper proposes a methodology for evaluating a set of two robot structures at a time in order to select the best structure among them for a new application process. As a proof of concept this method is applied to evaluate two anthropomorphic robot structures, one with and one without parallel linkage transmission. The evaluation is done on the basis of finding the best robot structure, which while fulfilling a set of processbased performance requirements (End-effector motion parameters) should demonstrate better energy efficiency characteristics for applicability in emerging application areas of green robotics.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2017. p. 20-24
Keywords [en]
energy efficiency, industrial robots, structural selection introduction, Anthropomorphic robots, End effectors, Human computer interaction, Robotics, Robots, Efficiency characteristic, Emerging applications, Endeffector motion, Performance requirements, Proof of concept, Robot structures, Tools and methods
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:mdh:diva-38163DOI: 10.1109/ICRAS.2017.8071909ISI: 000427143700005Scopus ID: 2-s2.0-85039897350ISBN: 9781538639948 OAI: oai:DiVA.org:mdh-38163DiVA, id: diva2:1176517
Conference
2017 International Conference on Robotics and Automation Sciences, ICRAS 2017, 26 August 2017 through 29 August 2017
Available from: 2018-01-22 Created: 2018-01-22 Last updated: 2018-03-29Bibliographically approved

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Reddy Vemula, Bhanoday

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf