{"id":"https://openalex.org/W7131819351","doi":"https://doi.org/10.1109/sii64115.2026.11404533","title":"Quantitative Evaluation of Energy Savings in a 3-DOF Manipulator via Lightweighting with Plastic Structural Parts","display_name":"Quantitative Evaluation of Energy Savings in a 3-DOF Manipulator via Lightweighting with Plastic Structural Parts","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131819351","doi":"https://doi.org/10.1109/sii64115.2026.11404533"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028954344","display_name":"Kenji Sekiguchi","orcid":"https://orcid.org/0000-0002-2310-1221"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kenji Sekiguchi","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550"],"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116241665","display_name":"Norisato Kanai","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Norisato Kanai","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550"],"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022149462","display_name":"Yuta Tsukamoto","orcid":"https://orcid.org/0000-0002-0773-7190"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Tsukamoto","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550"],"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024157201","display_name":"HIROYUKI Nabae","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Nabae","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550"],"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106309692","display_name":"Takahiro Aruga","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Aruga","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550"],"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125699604","display_name":"Takeshi Takaki","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Takaki","raw_affiliation_strings":["Hiroshima University,The Smart Robotics Lab, Graduate School of Advanced Science and Engineering,Hiroshima,Japan"],"affiliations":[{"raw_affiliation_string":"Hiroshima University,The Smart Robotics Lab, Graduate School of Advanced Science and Engineering,Hiroshima,Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121275922","display_name":"Naoyuki TAKESUE","orcid":null},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoyuki Takesue","raw_affiliation_strings":["Tokyo Metropolitan University,Graduate School of Systems Design,Department of Mechanical Systems Engineering,Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Metropolitan University,Graduate School of Systems Design,Department of Mechanical Systems Engineering,Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125750595","display_name":"Yusuke Ota","orcid":null},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Ota","raw_affiliation_strings":["Chiba Institute of Technology,Department of the Advanced Robotics,Chiba,Japan,257-0016"],"affiliations":[{"raw_affiliation_string":"Chiba Institute of Technology,Department of the Advanced Robotics,Chiba,Japan,257-0016","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127412296","display_name":"Gen Endo","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550"],"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Department of Mechanical Engineering,Tokyo,Japan,152-8550","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5028954344"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.49855017,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1634","last_page":"1639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12080","display_name":"Injection Molding Process and Properties","score":0.13120000064373016,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12080","display_name":"Injection Molding Process and Properties","score":0.13120000064373016,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12959","display_name":"Engineering and Materials Science Studies","score":0.049800001084804535,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.03669999912381172,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6707000136375427},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.635699987411499},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5892999768257141},{"id":"https://openalex.org/keywords/aluminium","display_name":"Aluminium","score":0.5687000155448914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5220999717712402},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.4683000147342682},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.45249998569488525},{"id":"https://openalex.org/keywords/alloy","display_name":"Alloy","score":0.43160000443458557}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6707000136375427},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.635699987411499},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5892999768257141},{"id":"https://openalex.org/C513153333","wikidata":"https://www.wikidata.org/wiki/Q663","display_name":"Aluminium","level":2,"score":0.5687000155448914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5220999717712402},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.4683000147342682},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4577000141143799},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4560000002384186},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.45249998569488525},{"id":"https://openalex.org/C2780026712","wikidata":"https://www.wikidata.org/wiki/Q37756","display_name":"Alloy","level":2,"score":0.43160000443458557},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.40310001373291016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3968999981880188},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.38659998774528503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30640000104904175},{"id":"https://openalex.org/C2992524093","wikidata":"https://www.wikidata.org/wiki/Q486802","display_name":"Impact energy","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C140205800","wikidata":"https://www.wikidata.org/wiki/Q5860","display_name":"Carbon fibers","level":3,"score":0.30239999294281006},{"id":"https://openalex.org/C2985973956","wikidata":"https://www.wikidata.org/wiki/Q1617745","display_name":"High energy","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C519885992","wikidata":"https://www.wikidata.org/wiki/Q161","display_name":"Fiber","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C30772137","wikidata":"https://www.wikidata.org/wiki/Q5164762","display_name":"Consumption (sociology)","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C3020065929","wikidata":"https://www.wikidata.org/wiki/Q11379","display_name":"Total energy","level":3,"score":0.26600000262260437},{"id":"https://openalex.org/C3018303953","wikidata":"https://www.wikidata.org/wiki/Q5377024","display_name":"Energy requirement","level":3,"score":0.26489999890327454},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.25780001282691956},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.843133270740509,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1971317756","https://openalex.org/W2083878885","https://openalex.org/W2136646676","https://openalex.org/W2898417639","https://openalex.org/W2944585148","https://openalex.org/W3017386143","https://openalex.org/W4221072676","https://openalex.org/W4321020400","https://openalex.org/W4387146076","https://openalex.org/W4391695380","https://openalex.org/W4407403999"],"related_works":[],"abstract_inverted_index":{"This":[0],"research":[1],"quantitatively":[2],"evaluates":[3],"the":[4,9,53,60,73,81,92,108],"energy-saving":[5],"effects":[6],"of":[7,12,26,35,56],"lightweighting":[8],"structural":[10,32],"parts":[11,33],"industiral":[13],"robots":[14,30],"by":[15,86],"substituting":[16],"conventional":[17],"aluminum":[18,37,74],"alloys":[19],"with":[20,31,76],"plastics.":[21],"We":[22,50],"prototyped":[23],"three":[24],"types":[25],"3-DOF":[27],"vertically":[28],"articulated":[29],"made":[34],"A5052":[36,109],"alloy,":[38],"a":[39,46,64],"carbon":[40],"fiber":[41],"non-woven":[42],"composite":[43,48],"(Feltcarbon),":[44],"and":[45,59,78,88,102],"3D-printed":[47],"(Onyx+CF).":[49],"then":[51],"measured":[52],"energy":[54,84,96],"consumption":[55,85],"each":[57],"joint":[58],"total":[61,83],"manipulator":[62],"during":[63],"10-cycle":[65],"pick-and-place":[66],"task.":[67],"The":[68],"results":[69],"show":[70],"that":[71],"replacing":[72],"alloy":[75],"Feltcarbon":[77,101],"Onyx+CF":[79,105],"reduces":[80],"manipulator\u2019s":[82],"25%":[87],"30%,":[89],"respectively.":[90],"At":[91],"single-joint":[93],"level,":[94],"maximum":[95],"savings":[97],"reached":[98],"44%":[99],"for":[100,104],"53%":[103],"compared":[106],"to":[107],"baseline.":[110]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-02-28T00:00:00"}