Energy Expenditure Comparison of Planar Robotic Manipulators for Pick-and-Place Operations

Energy expenditure evaluation and reduction represent a key point to be addressed in different fields towards a more sustainable industry. Energy savings can indeed drive the choice of the mechatronic equipment for manufacturing and automation processes. In this paper, two planar parallel manipulators operating in a similar workspace and with comparable characteristics are compared in terms of energy consumption for an industrial task. To assess the energy consumption, kinematic and dynamic models of the chosen planar manipulators are developed together with the electro-mechanical model of their actuators. The energy expenditure as well as the energy that could potentially be recovered through regenerative drives are evaluated and compared. Considerations regarding robot movements, possible recoverable energy, as well as the most energy efficient solution for the considered task are also drawn.