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Kinematic Design of Five-Bar Parallel Robot by Kinematically Defined Performance Index for Energy Consumption

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EuCoMeS 2018 (EuCoMeS 2018)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 59))

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Abstract

Evaluating parallel robots’ performance is a key to achieve a better design and better understanding of their behavior in operation. In this study, a novel idea of local performance evaluation of robots taking into consideration the directional variation of performance was proposed by introducing a circular trajectory around a local output point. Total displacement of joints was also introduced as a representative kinematically-defined performance index for energy consumption of robots. The proposed index was applied to performance evaluation of five-bar parallel robots and its effectiveness was investigated based on the relationship between its value and the consumed energy obtained by dynamic simulation. Illustrative example of kinematic design of five-bar parallel robot based on the proposed index was presented and its effectiveness was performed by evaluating the energy consumption of the designed robot to achieve pick-and-place motions.

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Authors and Affiliations

  1. Tokyo Institute of Technology, Tokyo, Japan

    Nguyen Duc Sang, Daisuke Matsuura, Yusuke Sugahara & Yukio Takeda

Authors
  1. Nguyen Duc Sang
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  2. Daisuke Matsuura
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  3. Yusuke Sugahara
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  4. Yukio Takeda
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Corresponding author

Correspondence to Nguyen Duc Sang .

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Editors and Affiliations

  1. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany

    Burkhard Corves

  2. LS2N, Ecole Centrale de Nantes, Nantes, France

    Philippe Wenger

  3. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Germany

    Mathias Hüsing

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Duc Sang, N., Matsuura, D., Sugahara, Y., Takeda, Y. (2019). Kinematic Design of Five-Bar Parallel Robot by Kinematically Defined Performance Index for Energy Consumption. In: Corves, B., Wenger, P., Hüsing, M. (eds) EuCoMeS 2018 . EuCoMeS 2018. Mechanisms and Machine Science, vol 59. Springer, Cham. https://doi.org/10.1007/978-3-319-98020-1_28

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