Publicación: Validación del movimiento natural en un robot paralelo durante tareas pick and place
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2022
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info:eu-repo/semantics/openAccess
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Universidad Nacional de Educación a Distancia (España), Universidad Politécnica de Madrid. Departamento de Ingeniería Mecánica
Resumen
El aumento de robots industriales instalados y los requerimientos de sostenibilidad de la sociedad actual han dirigido la atención al estudio del consumo energético de estás máquinas. En los últimos años se han implementado diferentes métodos para reducir el consumo energético de los robots industriales. Estas metodologías se pueden clasificar en tres categorías: software, hardware y mixtas. El foco principal de esta contribución está en el estudio del movimiento natural (metodología mixta) en tareas pick and place de un robot paralelo. La idea general del movimiento natural es aprovechar de manera eficiente la conversión de energía potencial a energía cinética. Una de las maneras de hacer esto es diseñar resortes y una trayectoria de tal manera que, cuando se implementen en el robot, se optimice el consumo energético. Con esto en mente, este trabajo presenta dos contribuciones principales. Por un lado, se realiza la validación del movimiento natural en un prototipo experimental con resortes. En este punto se encuentra que, con la adición de los resortes y la trayectoria adecuada, siempre se consigue una caída en el consumo energético. Por otro lado, se formulan unos problemas de optimización que, al ser solucionados, resultan en configuraciones y trayectorias de mínimo consumo energético. Este segundo objetivo, encuentra la motivación en aumentar la versatilidad del sistema mecánico ante posibles cambios en la tarea. Los problemas de optimización planteados en esta etapa buscan realizar ajustes en los ángulos de equilibrio, en la trayectoria o en ambos cuando el sistema se encuentra con resortes. Los resultados muestran que los ajustes en los ángulos de equilibrio son suficientemente buenos en comparación con ajustes en la trayectoria. Finalmente, se demuestra que, al implementar los algoritmos de optimización, se pueden conseguir consumos energéticamente bajos, aún cuando la tarea cambie o los parámetros de los resortes experimentales difieran de los computacionales.
The increase in installed industrial robots and the sustainability requirements of today's society have directed attention to the study of the energy consumption of these machines. In recent years, different methods have been implemented to reduce the energy consumption of industrial robots. These methodologies can be classified into three categories: software, hardware and mixed. The focus of this contribution is on the study of natural motion of a parallel robot in pick and place tasks. The general idea of natural motion is to efficiently harness the conversion of potential energy to kinetic energy. One of the ways to do this is to design springs and trajectories, in such a way that, when implemented in the robot, power consumption is optimized. This work presents two main contributions. On the one hand, the validation of the natural movement is carried out in an experimental prototype with springs. At this point it is found that, with the addition of the springs and the proper trajectory, a drop in energy consumption is always achieved. On the other hand, some optimization problems are formulated and when solved, they result in configurations and trajectories of minimum energy consumption. This second objective is motivated by increasing the versatility of the mechanical system in the face of possible changes in the task. The optimization problems raised in this stage seek to adjust the equilibrium angles, the trajectory or both, for the system with springs. The results show that the equilibrium angle adjustments are good enough compared to trajectory adjustments. Finally, it is shown that, by implementing the optimization algorithms, low energy consumption can be achieved, even when the task changes or the parameters of the experimental springs differ from the computational ones.
The increase in installed industrial robots and the sustainability requirements of today's society have directed attention to the study of the energy consumption of these machines. In recent years, different methods have been implemented to reduce the energy consumption of industrial robots. These methodologies can be classified into three categories: software, hardware and mixed. The focus of this contribution is on the study of natural motion of a parallel robot in pick and place tasks. The general idea of natural motion is to efficiently harness the conversion of potential energy to kinetic energy. One of the ways to do this is to design springs and trajectories, in such a way that, when implemented in the robot, power consumption is optimized. This work presents two main contributions. On the one hand, the validation of the natural movement is carried out in an experimental prototype with springs. At this point it is found that, with the addition of the springs and the proper trajectory, a drop in energy consumption is always achieved. On the other hand, some optimization problems are formulated and when solved, they result in configurations and trajectories of minimum energy consumption. This second objective is motivated by increasing the versatility of the mechanical system in the face of possible changes in the task. The optimization problems raised in this stage seek to adjust the equilibrium angles, the trajectory or both, for the system with springs. The results show that the equilibrium angle adjustments are good enough compared to trajectory adjustments. Finally, it is shown that, by implementing the optimization algorithms, low energy consumption can be achieved, even when the task changes or the parameters of the experimental springs differ from the computational ones.
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Categorías UNESCO
Palabras clave
movimiento natural, consumo energético, robot paralelo, problemas de optimización
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Centro
E.T.S. de Ingenieros Industriales
Departamento
Mecánica