Design of a 3-DOF Spatial Manipulator: Torque Minimization for Static and Dynamic Modes

Design of a 3-DOF Spatial Manipulator: Torque Minimization for Static and Dynamic Modes | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Design of a 3-DOF Spatial Manipulator: Torque Minimization for Static and Dynamic Modes Arthur Chesnot, Vigen Arakelian This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6376052/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Minimizing robots' energy consumption is essential to address environmental and economic challenges. This can be achieved by optimizing the mechanism's architecture and components to lower motor torques. Static balancing approaches, such as the redistribution of moving masses with counterweights, are effective but face limitations in dynamic regimes, particularly during high-speed movements. This study introduces a novel three-degrees-of-freedom manipulator inspired by the Scott-Russell mechanism, with an optimum design both in static and dynamic operating modes. For the manipulator's static mode, a single counterweight redistributes its moving masses so that the system's center of mass moves along a straight horizontal path. This maintains a constant potential energy in the system, consequently leading to the cancellation of the input torques. Then, for the manipulator's dynamic mode, an optimal design approach is proposed. By carefully selecting the parameters of the specified counterweight, the input torques are minimized for "Pick-and-Place" trajectories executed according to the "Bang-Bang" motion control law. This design approach reduces energy consumption and minimizes peak torques during dynamic operation. The results clearly demonstrate the transition between static and dynamic modes, along with a significant reduction in the manipulator's input torques in both scenarios. The method is adaptable to other applications, offering an optimal solution to maximize the energy performance of manipulators. Energy consumption Input torques Static and dynamic modes Optimization Scott-Russell linkage 3-DOF manipulators Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6376052","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":439668335,"identity":"f1922910-80a9-494d-8d22-9bd67d6591df","order_by":0,"name":"Arthur Chesnot","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABHUlEQVRIie3Qv0rEMBzA8YTCdYl0bVHsK6QILULRV0k56FREcOng0CDoItwa0IfoKghGAtclXNeCgidCXBzqpstxQfFPuSiODvkOoW3y4RcKgM32Pxu9rfj9JUWDvd4onO+E5AMC2R+IGOwZiXfWTh/WLkGYuCdq/vzSbiSemDtlebvneRwelavEn43dLaRAdHEqk4iRG7TNcgylVAcBI5BKwxjpjNYRBwR3hX7QBHcgeaXHIqs74N5XqyL8JHePSpMZwm3TQ7oQ2VXLITUQ/DUFxJpwhHmB9VE9BRAjiaQTB+fcj2pZxAHLx/pixT6spiJjXUZNZFNC5T/xNMRNo/w+3dnVF6thdSiyyURcm8jHjzN+hT8Dm81ms/3aEi9IZ6NZUsQDAAAAAElFTkSuQmCC","orcid":"","institution":"Institut National des Sciences Appliquées de Rennes","correspondingAuthor":true,"prefix":"","firstName":"Arthur","middleName":"","lastName":"Chesnot","suffix":""},{"id":439668336,"identity":"3cc258db-a2c0-48e5-896f-7e17edc16b25","order_by":1,"name":"Vigen Arakelian","email":"","orcid":"","institution":"Institut National des Sciences Appliquées de Rennes","correspondingAuthor":false,"prefix":"","firstName":"Vigen","middleName":"","lastName":"Arakelian","suffix":""}],"badges":[],"createdAt":"2025-04-04 12:08:23","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6376052/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6376052/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":84603411,"identity":"f6796e68-f77d-4055-9dbe-19247dc0791a","added_by":"auto","created_at":"2025-06-14 10:31:46","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":3110444,"visible":true,"origin":"","legend":"","description":"","filename":"LatexMultibodySystemDynamicsChesnotAArakelianV.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6376052/v1_covered_b322fce4-c9d8-499d-a320-474daa5ac9e5.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Design of a 3-DOF Spatial Manipulator: Torque Minimization for Static and Dynamic Modes","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":true,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Energy consumption, Input torques, Static and dynamic modes, Optimization, Scott-Russell linkage, 3-DOF manipulators","lastPublishedDoi":"10.21203/rs.3.rs-6376052/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6376052/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Minimizing robots' energy consumption is essential to address environmental and economic challenges. 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By carefully selecting the parameters of the specified counterweight, the input torques are minimized for \"Pick-and-Place\" trajectories executed according to the \"Bang-Bang\" motion control law. This design approach reduces energy consumption and minimizes peak torques during dynamic operation. The results clearly demonstrate the transition between static and dynamic modes, along with a significant reduction in the manipulator's input torques in both scenarios. 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