Work

Performance Gain of Collaborative Versus Sequential Motion in Modular Robotic Manipulators for Pick-and-Place Operations

Year: 2025

Type: article

Abstract: With the increasing demand for efficiency and profitability in industrial applications, modularity offers significant advantages such as system reconfiguration, reduced acquisition costs, and enhanced versatility. However, achieving compatibility across multi-vendor modular systems remains a challenge, particularly in motion control. This study focuses on improving motion control and sensing compatibility and performance, partly using open-source tools to enhance performance in modular systems. In such systems, effective motion coordination between modules is crucial; without it, operations are constrained to sequential execution, limiting efficiency. This paper quantifies the performance benefits of collaborative motion compared to sequential motion in modular mechatronic systems for pick-and-place operations. The experimental validation, conducted on a robotic manipulator mounted on a linearly sliding platform, demonstrates a substantial improvement. The results show time savings of 36% to 52% and an approximate 35% reduction in energy consumption, highlighting the potential for improved productivity and sustainability in modular automation solutions.

Source: Machines

DOI: 10.3390/machines13050348

Authors: Remy Carlier, Joris Gillis, Pieter De Clercq, Gianni Borghesan, Kurt Stockman, Jeroen D. M. De Kooning

Institutions: Ghent University, KU Leuven, Flanders Make (Belgium)

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896