Research On Energy Consumption Characteristic Analysis And Modeling For Industrial Robots In Manufacturing

Manufacturing industry is a main source of energy consumption and carbon emissions.Currently,industrial robots have been widely used in manufacturing,which resulting in a huge amount of energy consumption and thus have a major impact on environment.In order to optimize the energy cost of IRs in manufacturing,it is necessary to obtain physical energy model and make quantitative analysis for energy consumption in production processes.However,the energy consumption characteristic of industrial robots in manufacturing remains to be revealed and modeled due to the complex energy law and lots of reasons causing energy consumption.To meet these demands,this paper has study the following aspects in the context of energy consumption characteristic analysis and modeling for industrial robots in manufacturing:(1)In view of the multi-source energy consumption characteristic,the energy consumption characteristic of industrial robots in manufacturing are classified and described with the working principle.The variables and mathematical expressions are introduced to discuss the energy consumption characteristic for industrial robots in manufacturing,which includes motor electrical power and mechanical power and auxiliary power.The equations of motor energy consumption,mechanical energy consumption,mechanical power losses are created.(2)The existing energy consumption model is not convenient to be applied in the manufacturing.The conception of meta-condition including meta-Info and meta-Therblig and meta-EC is proposed by analysis on the relationship between energy consumption characteristics and manufacturing conditions especially for robot load and operating speed in production processes.In view of the existing problems of research on industrial robot manufacturing system energy consumption modeling,the physics-based energy modeling method using meta-condition is developed through energy fitting functions with practical approaches.(3)Finally,an experimental platform is established and an experimental investigation is carried out to validate the accuracy of the developed physics-based energy model.At last,the results show that the physics-based energy modeling using meta-condition can be conveniently and effectively used to predict the energy consumption of industrial robots in production processes.Qualitative description of the energy consumption is converted to quantitative evaluation through fitting function concisely and effectively.