Analysis and classification of autonomous robotic systems by their energy consumption

Abstract

The paper presents an analysis of autonomous robotic systems and develops a classification which establishes the dependency between the overall dimensions, weight, energy consumption, and energy intensity of the power source of the said systems. The analysis of the existing classifications of robotic systems demonstrated that most papers focus on the classifications of forms, properties, and purposes of robots, as well as factors affecting energy consumption. Analysis and classification of autonomous robotics according to the level of energy consumption will help to determine the most efficient class and power level of the wireless power transmission system for a particular robot at the design stage, depending on the weight and dimensions of the robot. The task is especially relevant for the actively developing sphere of wireless systems for transmitting energy to mobile robots. This article focuses on autonomous mobile ground robots designed for indoor use. We considered the following types of robots: wheeled, walking, humanoid, and hybrid robots that combine several types of structures. The studied parameters were: power consumption, weight and dimensions of the robot, the power source, and its output performance. As a result, we identified four groups of robotic systems in terms of energy consumption: low energy consumers (up to 10 W), medium energy consumers (from 10 to 250 W), high energy consumers (from 250 to 1000 W), and ultra-high energy consumers (over 1000 W). We also determined the ranges of energy consumption, linear dimensions, mass, and capacity of accumulators of robotic devices in each group. The article presents the dependency curves of the consumed energy on the weight and dimensions of the considered robots.