The Research Of Industrial Robot Energy Consumption Evaluation Method In Working Process

Industrial robots is a general operating carrier, it has function of control about spatial position and posture,it can meets the work tasks such as transportation, welding, spraying. But it's high configuration, high energy consumption significantly for the layout of six joint series open-type power transmission chain. With the rapid growth of robot installed capacity, its energy consumption problem is more prominent. In this paper, the main research work done as follows:(1) Energy consumption evaluation method was researched. Industrial robot ER20-C10 was regarded as object, and its energy consumption was optimized from two aspects of industrial robot trajectory and speed. So energy consumption evaluation method was formulated by the process of energy consumption optimization.(2) Energy-saving strategy was researched based on the trajectory optimization. The trajectory planning problem of industrial robots was researched in the work, and the pros and cons of several kinds of method of trajectory planning in joint space were compared. So five b-spline interpolation method was chosen to generate industrial robot's trajectory. The kinetic energy of the industrial robot was regarded as target for energy consumption, and the improved genetic algorithm was used to find the industrial robot's trajectory of optimal energy consumption. The kinematic and dynamic constraints were added into the process of the operation. The optimal trajectory was generated into the industrial robot's model, and the model into ADAMS simulation. Then industrial robot's curves of each joint motion parameters were analyzed.(3) Energy saving strategy was researched based on the movement speed of the optimal control. The process of industrial robot's dynamics modeling was researched and Newton-euler equation method of vector mechanics and Lagrange's equation method were analyzed. The structure of industrial robot's waist, arm, forearm was simplified. Then energy consumption model of industrial robot's servo motor was established, the model combined with ER20-C10's dynamics model, and the MATLAB was used to simulation analysis. So it was concluded that the optimal energy consumption of industrial robots and the relationship between the total energy consumption and its speed of each joint. The rationality of the results was verified through the experiment that measured industrial robot's energy consumption situation of each joint under different rotational speed.Research results mainly reflected as follows:(1) A energy consumption evaluation method was developed based on trajectory optimization. The movement parameters of each joint met the constraint conditions by analyzing the result of simulation. So industrial robot ER20-C10's optimal trajectory was received in the working process. It made the industrial robot move smoothly, no impact in the working process.(2) A energy consumption evaluation method was developed based on optimal control of movement speed. The dynamic model of industrial robot ER20-C10 was built. The optimal energy consumption and optimal control speed of the robot were received through the simulation analysis and experimental verification.