Abstract
In pick and place operations a mechanism moves an object from an initial to a final pose and repeats, with frequencies of operation that can achieve 150 picks per minute. The paper presents the concept of natural motion for this kind of operations, where the basic idea is to add elastic elements to the mechanism and try to match the desired motion with the natural motion of the system. This concept was implemented in a multibody simulation of a five-bar linkage by using numerical optimization to find the required spring constants as well as the trajectory that minimize the torque on the motors. The required energy of the system using the concept of natural motion was compared with that of a typical trajectory, finding that the use of springs and natural motion reduces the energy consumption by 68 % per cycle.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Angeles, J.: Fundamentals of robotic mechanical systems, 3 edn. Springer (2007)
Biagiotti, L., Melchiorri, C.: Trajectory planning for automatic machines and robots. Springer (2008)
Goya, H., Matsusaka, K., Uemura, M., Nishioka, Y., Kawamura, S.: Realization of high-energy efficient pick-and-place tasks of scara robots by resonance. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2012)
Jafari, A., Tsagarakis, N., Caldwell, D.G.: Exploiting natural dynamics for energy minimization using an actuator with adjustable stiffness (awas). In: 2011 IEEE International Conference on Robotics and Automation (ICRA) (2011)
Lagarias, J., Reeds, J., Wright, M., Wright, P.: Convergence properties of the nelder-mead simplex method in low dimensions. SIAM J. Optim. 9(1), 112–147 (1998)
Pellicciari, M., Berselli, G., Leali, F., Vergnano, A.: A method for reducing the energy consumption of pick-and-place industrial robots. Mechatronics 23(3), 326–334 (2013)
Siciliano, B.: Robotics. Springer (2009)
Tsai, L.W.: Robot analysis. Wiley (1999)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Barreto, J.P., Schöler, F.JF., Corves, B. (2017). The Concept of Natural Motion for Pick and Place Operations. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-45450-4_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-45449-8
Online ISBN: 978-3-319-45450-4
eBook Packages: EngineeringEngineering (R0)