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

• Published in: International 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
• Language: English
• 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

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...