Analysis of Energy Consumption in a Twoarm Vertical Planar Robot by Varying a Dimensionless Design Construction Parameter With the advent of 4.0 industry, robotic technologies are now considered part of the industrial complex. New areas are being researched, merging robotic manipulatoru0027s precise and accurate movement to automatise repetitive tasks. In the industry, hundreds of manipulators are being applied to execute tasks that were previously executed manually. This fact promoted not only the rising on the processes efficiency, but also reduced the human exposure to danger. The comprehension of those systems dynamic behaviour is essential to better design new manipulators for specific tasks. Despite this growth, just few other papers are regarding manipulatoru0027s energy and design. In this paper, a vertical planar robotic manipulator with two cylindrical arms and two degreesoffreedom is modelled to analyse the influence of a dimensionless design parameter, i.e. a ratio between length and diameter, on the energy consumption and peak power required. In conjunction with preset properties, e.g. material density, weight and inertial momentum, three simulations are run covering two different move sets and two different manipulators sizes to calculate energy and power for a specific task. It is expected that the longest the manipulatoru0027s arm, the higher the energy consumption. However, this is not always observed, and the reasons why are discussed in this paper.

Kinematics, Design and Experimental Validation of a Novel Parallel Robot for TwoFingered Dexterous Manipulation Twofingered manipulation robotic systems are widely used in many application sand notably at small scales. The commonly employed solution is based on the attachment of a gripper on a robot. This paper introduces a new eight degrees of freedom (DoF) mechanism intended for twofingered dexterous manipulation. The eight DoFs are obtained via a parallel architecture moved by eight actuators that are attached to the base of the robot. The novelty lies in the use of a 2DoF configurable platform that insures two relative rotations of the gripper jaws (opening and twisting) in addition to the 6DoF Cartesian movements. The paper presents the kinematics and the design of a proofofconcept able to grasp, roll, translate and rotate objects in a single compact design. A prototype is operated to manipulate and insert a 2mm screw.