Energy consumption of three-link manipulators as a function of geometric features and trajectory parameters

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Abstract
SUMMARY The method of parametric optimization is applied to the energy analysis of the motion of three-link manipulators. The quality criterion is the energy consumption along 1 m of the path. It consists of two parts: 1) The sum of the products of joint moments and relative joint velocities (an equivalent of the mechanical work); 2) a quadratic form of joint velocities (an analogue of dissipation losses). Typical spatial motions are studied: the hand of the robot moves along a straight line from an initial position to another one, and returns to the start. Several velocity function shapes (parabolic, sinusoidal, and triangular), both symmetric and non-symmetric ones, are considered. The dependence of the energy consumption on the velocity form, on the trajectory parameters and on mechanical and geometrical characteristics of links is discussed.

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