Energy Optimization of a Parallel Robot in Pick and Place Tasks

The increase in the number of industrial robots and the requirements for sustainable production have drawn attention to the study of energy consumption. The present research work studies the energy optimization of a five-bar linkage when performing pick and place tasks, combining trajectory optimization and the addition of springs in parallel to the actuators. First, a method to reduce the energy consumption for a general task is presented. Second, an algorithm to calculate the free vibration response and the springs parameters for a nominal task is explained. Finally, a new energy optimization method is presented to improve the versatility of the robot when a new task is required, while reducing the necessary changes on the system. The experimental results, regarding the free vibration trajectory, encourage the adequate implementation of the calculated springs in the prototype. Moreover, the results of the simulations, regarding the new method, indicate the versatility of the system if the nominal task changes.