Reducing energy consumption in robotic processes using a single-DOF Bennett mechanism

Abstract

This paper explores the energy-saving potential of a spatial, single-degree-of-freedom (1-DOF) Bennett mechanism in industrial pick-and-place tasks. In comparison to conventional robotic arms with multiple actuators, Bennett's mechanism uses a closed kinematic structure and a single actuator to realize complicated spatial trajectories. Through both simulation and experimental comparison with a commercial UR3e collaborative robot, the mechatronic prototype of the Bennett mechanism demonstrated a reduction in energy consumption of up to 92% for identical tasks. The results confirm that closed loop mechanisms can be an energy-efficient option for tasks with simple, repetitive motion. While the Bennett mechanism is limited to predefined trajectories, its simplicity, low energy footprint, and suitability for repetitive tasks make it a promising alternative for dedicated automation scenarios. This study underscores the value of low-redundancy kinematic designs in future industrial robotics.