Optimizing the energy consumption of robot movements becomes one of the increasingly important issues in industry. Minimizing a robot's movement has been identified as one of the strategies to improve energy efficiency in robotic systems. In this paper, a mathematical model of the total energy consumption of cycle pick-and-place tasks is proposed, which considers operating motion and homing motion of a given trajectory with different joint configurations. Optimal joint configurations for cyclic pick-and-place tasks are investigated in order to maximize energy saving. Finally, a case study is described to illustrate the proposed method and the results show that compared with fixed joint configurations, the proposed method based on flexible joint configurations reduces the energy consumption by 10.33%.

优化机器人运动的能量消耗已成为工业中越来越重要的问题之一。最小化机器人的动作已被视为提高机器人系统能效的策略之一。本文提出了周期取放任务总能耗的数学模型，该模型考虑了具有不同关节配置的给定轨迹的操作运动和归位运动。研究了用于循环拾取和放置任务的最佳关节配置，以最大程度地节省能源。最后，通过实例分析说明了该方法的有效性，结果表明，与固定节点结构相比，该方法基于柔性节点结构的能耗降低了10.33％。