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We show an analytical model aiming to analyze the search space of architectures based on the torsion angles of the robot to determine the optimal architecture that allows the efficient use of energy. The analytical model provides a theoretical estimation of the energy consumption and is validated by monitoring the experimental robot. The numerical calculations obtained with a particular case reduced the energy consumption by approximately 7.5%.<\/jats:p>","DOI":"10.1017\/s0263574722000832","type":"journal-article","created":{"date-parts":[[2022,6,10]],"date-time":"2022-06-10T07:36:27Z","timestamp":1654846587000},"page":"4143-4168","source":"Crossref","is-referenced-by-count":3,"title":["Energy consumption analysis for an adaptive prototype of 3R industrial robot"],"prefix":"10.1017","volume":"40","author":[{"given":"Erick-Alejandro","family":"Gonz\u00e1lez-Barbosa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Max Antonio","family":"Gonz\u00e1lez-Palacios","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luz Antonio","family":"Aguilera-Cort\u00e9s","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6720-8282","authenticated-orcid":false,"given":"Jos\u00e9-Joel","family":"Gonz\u00e1lez-Barbosa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan Pablo","family":"Serrano-Rubio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jos\u00e9 \u00c1ngel","family":"Colin Robles","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,6,10]]},"reference":[{"key":"S0263574722000832_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2017.7942668"},{"key":"S0263574722000832_ref15","first-page":"131","article-title":"Energy consumption and dynamic behavior analysis of a six-axis industrial robot in an assembly system","volume":"23","author":"Brossog","year":"2014","journal-title":"Proc."},{"key":"S0263574722000832_ref45","unstructured":"[45] User guides for acr-view software. 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