Energy Efficiency Evaluation of an Underactuated Robot in Comparison to Traditional Robot Kinematics

Abstract

An underactuated serial kinematics industrial handling robot using high torque direct drive motors combined with slip rings is presented. Pick and place tasks are performed through combining the underactuated motion with a null-space motion enabling the kinetic energy to be conserved within the system. This system is benchmarked against linear axis systems with belt and ball screw drives respectively and also against a conventional robot system regarding energy efficiency proving performance improvements.