Frontiers of Mechanical Engineering

, Volume 13, Issue 2, pp 167–178 | Cite as

Evaluation of the power consumption of a high-speed parallel robot

  • Gang Han
  • Fugui Xie
  • Xin-Jun Liu
Research Article


An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. Afterward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low-power-consumption workspace is selected for the robot.


high-speed parallel robot dynamic model power consumption evaluation method power vector 


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This work was supported by the National Natural Science Foundation of China (Grant No. 51425501), and Beijing Municipal Science and Technology Commission (Grant No. Z171100000817007). The second author wishes to acknowledge the support of the Alexander von Humboldt Foundation.


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Copyright information

© Higher Education Press and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  1. 1.The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical EngineeringTsinghua UniversityBeijingChina
  2. 2.Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and ControlTsinghua UniversityBeijingChina

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