Abstract: As the key of intelligent manufacturing, the energy consumption of robotics has attracted the attention of manufacturing countries, and the research at home and abroad is very active. Aiming at the optimization of energy consumption of industrial robots, low-energy hardware design methods such as lightweight design, efficient drive system design, energy storage and sharing devices are introduced. The software methods for energy optimization are reviewed from the aspects of trajectory planning and task scheduling. Then, a hybrid method combining software optimization and hardware with application potential is introduced, and the main research results and shortcomings are illustrated. Finally, the potential development trends of energy consumption optimization of industrial robots are pointed out.

Key words: industry robot, energy consumption optimization, hardware design, software optimization, hybrid method

摘要： 机器人技术作为智能制造的关键，其能耗问题已引起各制造业大国的关注，国内外的研究十分活跃。针对工业机器人能耗优化问题，介绍了轻量化设计、高效驱动系统设计、能量存储和共享装置等低能耗硬件设计方法，从轨迹规划和任务调度方面对能耗优化的软件方法进行了综述，介绍了具有应用潜力的软件优化和硬件相结合的混合方法，同时突出了主要研究成果并说明了不足之处；最后指出工业机器人能耗优化具有潜力的发展趋势。

关键词: 工业机器人, 能耗优化, 硬件设计, 软件优化, 混合方法