Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis

TL;DR

This paper presents a methodology for optimizing the placement of a manipulator's path within its workspace to minimize energy consumption, demonstrated on the Orthoglide 3-axis PKM.

Contribution

It introduces a novel approach to path placement optimization considering energy efficiency and applies it to a specific parallel kinematic machine.

Findings

Energy consumption is minimized through optimal path placement.

The methodology accounts for geometric, kinematic, and dynamic constraints.

Application to Orthoglide 3-axis validates the approach.

Abstract

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide~3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.