Toronto Metropolitan University
Browse
robotics-11-00032-v2.pdf (2.94 MB)

An Analysis of Power Consumption of Fluid-Driven Robotic Arms Using Isotropy Index: A Proof-of-Concept Simulation-Based Study

Download (2.94 MB)
journal contribution
posted on 2023-07-24, 17:15 authored by Kourosh ZareiniaKourosh Zareinia

The manipulability of a robotic arm may be defined based on ease of motion in different directions or ease of applying force/torque. In this study, we use manipulability measures to investigate how the kinematics of robots can be employed to calculate the optimal power required to drive the actuation systems of their arms. We hypothesize that the isotropy measure is related to the power consumption of the robotic arm. In addition to theoretical aspects, we consider practical applications that can minimize power consumption in robotic systems. Since the method is simple to implement and has no assumption on the robot’s work environment or dependence on information on the main power supply, manipulability measures can be used as a tool to predict the power consumption of robotic manipulators.

History

Usage metrics

    Mechanical Engineering

    Licence

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC