{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T04:28:02Z","timestamp":1772252882539,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2022,3,5]],"date-time":"2022-03-05T00:00:00Z","timestamp":1646438400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council","doi-asserted-by":"publisher","award":["Discovery Grant No. 2019-05562"],"award-info":[{"award-number":["Discovery Grant No. 2019-05562"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100007891","name":"Ryerson University","doi-asserted-by":"publisher","award":["Ryerson Dean of Engineering and Architectural Science Research Fund (DRF)"],"award-info":[{"award-number":["Ryerson Dean of Engineering and Architectural Science Research Fund (DRF)"]}],"id":[{"id":"10.13039\/100007891","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The manipulability of a robotic arm may be defined based on ease of motion in different directions or ease of applying force\/torque. In this study, we use manipulability measures to investigate how the kinematics of robots can be employed to calculate the optimal power required to drive the actuation systems of their arms. We hypothesize that the isotropy measure is related to the power consumption of the robotic arm. In addition to theoretical aspects, we consider practical applications that can minimize power consumption in robotic systems. Since the method is simple to implement and has no assumption on the robot\u2019s work environment or dependence on information on the main power supply, manipulability measures can be used as a tool to predict the power consumption of robotic manipulators.<\/jats:p>","DOI":"10.3390\/robotics11020032","type":"journal-article","created":{"date-parts":[[2022,3,6]],"date-time":"2022-03-06T20:40:02Z","timestamp":1646599202000},"page":"32","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["An Analysis of Power Consumption of Fluid-Driven Robotic Arms Using Isotropy Index: A Proof-of-Concept Simulation-Based Study"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5180-782X","authenticated-orcid":false,"given":"Yaser","family":"Maddahi","sequence":"first","affiliation":[{"name":"Department of Research and Development, Tactile Robotics, Winnipeg, MB R3T 6A8, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0603-9200","authenticated-orcid":false,"given":"Kourosh","family":"Zareinia","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Wang, L., and Wang, X. 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