A novel methodology for the selection of the optimal velocity profile for planned point-to-point trajectories in 1-DoF manipulators

In this work, an approach based on velocity profile selection is developed and validated to decrease forces, acceleration, velocity, mechanical power, and energy consumption in 1 DOF Cartesian manipulators. Initially, a mathematical modeling of the kinematic and kinetic variables rising in linear, e...

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Bibliographic Details
Published inInternational journal of advanced manufacturing technology Vol. 134; no. 3-4; pp. 2051 - 2065
Main Authors Olier, Camilo Andrés Gonzalez, Ramírez, Heriberto Enrique Maury, Higuera, Leidy Milena Mora
Format Journal Article
LanguageEnglish
Published London Springer London 01.09.2024
Springer Nature B.V
Subjects
Acceleration
CAE) and Design
Cartesian coordinates
Computer-Aided Engineering (CAD
Energy consumption
Engineering
Industrial and Production Engineering
Kinematics
Maximum power
Mechanical Engineering
Media Management
Original Article
Velocity
Velocity distribution
Cartesian manipulators
Trajectory planning
Energy saving
Point-to-point motions
Velocity profile selection
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Summary:In this work, an approach based on velocity profile selection is developed and validated to decrease forces, acceleration, velocity, mechanical power, and energy consumption in 1 DOF Cartesian manipulators. Initially, a mathematical modeling of the kinematic and kinetic variables rising in linear, exponential, parabolic, sinusoidal, and s-curve ramp velocity profiles is proposed for different load conditions and saturation values of the velocity profiles, focusing on generic Cartesian manipulators moving a constant inertia load and not equipped with regenerative devices. Lastly, a summary table outlining the benefits and drawbacks of each velocity profile in relation to the relevant variables is given to the reader, along with a set of recommendations for selecting the best velocity profile in accordance with the load conditions and optimization goals. It was shown that, depending on the load conditions, the inappropriate choice of one type of speed profile can increase the required forces by up to 400%, the required maximum power by more than 88%, and the energy consumption by up to 77% with respect to the optimal speed profile.
ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-024-14141-2