Realtime performance analysis of different combinations of fuzzy–PID and bias controllers for a two degree of freedom electrohydraulic parallel manipulator

2015 ◽  
Vol 34 ◽  
pp. 62-69 ◽  
Author(s):  
Bibhuti Bhusan Ghosh ◽  
Bikash Kumar Sarkar ◽  
Rana Saha
Keyword(s):  
Performance Analysis ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Fuzzy Pid ◽  
Two Degree Of Freedom

Motion Performance Analysis of Double-Cylinder Parallel Manipulators

2009 ◽  
Author(s):  
Hong Zhou ◽  
Shehu T. Alimi ◽  
Aravind Ravindranath ◽  
Hareesh Vepuri
Keyword(s):  
Performance Analysis ◽  
Parallel Manipulator ◽  
Critical Role ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Serial Manipulators ◽  
Operation Speed ◽  
Transmission Angle ◽  
Motion Performance ◽  
Two Degree Of Freedom

Double-cylinder parallel manipulators are closed-loop two-degree-of-freedom linkages. They are preferred to use because of their simplicity plus the common advantages of parallel manipulators such as high stiffness, load-bearing, operation speed and precision positioning. Like other parallel manipulators, the output motion of double-cylinder parallel manipulators is not as flexible as two-degree-of-freedom serial manipulators. The motion performance analysis plays a critical role for this type of parallel manipulator to be applied successfully. In this paper, the linkage feasibility conditions are established based on the transmission angle. When feasibility conditions are satisfied, there is no dead position during operation. The workspace is generated by using curve-enveloping theory. The singularity characteristics are analyzed within the workspace. The motion performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. The results of this paper provide guidelines to apply this type of parallel manipulator.

Motion Performance Analysis of Double-Slider Two-DOF Parallel Manipulators

2010 ◽  
Author(s):  
Hong Zhou ◽  
Mukesh Nagapuri ◽  
Sheetal Reddy Mamidi ◽  
Raj Kumar Gandham
Keyword(s):  
Performance Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Serial Manipulators ◽  
Operation Speed ◽  
Transmission Angle ◽  
Motion Performance ◽  
The Common ◽  
Two Degree Of Freedom

Double-slider parallel manipulators are closed-loop two-degree-of-freedom linkages. They are preferred to use because of their simplicity plus the common advantages of parallel manipulators such as high stiffness, load-bearing, operation speed and precision positioning. Like other parallel manipulators, the output motion of double-slider parallel manipulators is not as flexible as two-degree-of-freedom serial manipulators. The motion performance analysis plays a crucial role for this type of parallel manipulator to be applied successfully. In this paper, the linkage feasibility conditions are established based on the transmission angle. When feasibility conditions are satisfied, there is no dead position during operation. The workspace is generated by using curve-enveloping theory. The singularity characteristics are analyzed within the workspace. The motion performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. The results of this paper provide guidelines to design this type of parallel manipulator.

Performance Analysis of Two Robots one Serial 4R and one Parallel 3T

2015 ◽  
Vol 762 ◽  
pp. 137-146
Author(s):  
Constantin Ocnărescu
Keyword(s):  
Performance Analysis ◽  
High Precision ◽  
Parallel Manipulator ◽  
Machine Building ◽  
Degree Of Freedom ◽  
Building Industry ◽  
Attractive Alternative ◽  
Kinematic Study ◽  
Structural Solution

A geometric and kinematic study between two structures of robots was performed, respectively a mechanical anthropomorphic structure, with bars and gears, with four degree of freedom, (dof), redundant (4R), which can avoid obstacles and a parallel manipulator with translation on three axes (3T). This 3T structural solution allows rapid and precise movements, which are important characteristics for machine building industry. All these features make the parallel manipulator to be an attractive alternative to the serial ones for high precision operations in a limited workspace.

Performance Improvement Using GOA-Based Fuzzy-2D-PIDF Controller for AGC of Multi-Area Power System

2021 ◽  
Vol 12 (2) ◽  
pp. 1-20
Author(s):  
Debasis Tripathy ◽  
Nalin Behari Dev Choudhury ◽  
Binod Kumar Sahu
Keyword(s):  
Performance Analysis ◽  
Power System ◽  
Pid Controller ◽  
Automatic Generation ◽  
Degree Of Freedom ◽  
Comparative Performance ◽  
Interconnected Power System ◽  
Derivative Filter ◽  
Teaching Learning ◽  
Two Degree Of Freedom

Automatic generation control (AGC) is an automation scheme that regulates the output of several generators employed at different areas of an interconnected power system simultaneously in response to load variation in the most economical way. This article implements a fuzzy-two degree of freedom-PID controller considering derivative filter (F-2D-PIDF) optimally tuned through grasshopper optimization algorithms (GOA) for AGC of a three unequal area interconnected power system. Initially, comparative performance analysis is carried out for conventional PID controllers optimally designed by particle swarm optimization, teaching learning-based optimization and GOA techniques. After ensuring better performance from GOA based PID controller, the study extended to establish dominance of the proposed F-2D-PIDF controller over others like PID, PID with derivative filter (PIDF), two degree of freedom-PIDF, and fuzzy-PIDF for the same power system in presence and absence of nonlinearities with GOA framework. In all these above studies, a load perturbation of 0.01 p.u. is applied in area-1. Comparative performance analysis reveals that GOA based F-2D-PIDF controller outperforms other controllers in all aspects. Finally, robustness of the proposed controller verified by varying system parameters and loading condition.

Dimensional synthesis and dynamic manipulability of a planar two-degree-of-freedom parallel manipulator

2008 ◽  
Vol 222 (6) ◽  
pp. 1061-1069 ◽  
Author(s):  
J Wu ◽  
J Wang ◽  
L Wang ◽  
H Shao
Keyword(s):  
Condition Number ◽  
Parallel Manipulator ◽  
Virtual Work ◽  
Mean Value ◽  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
Hybrid Machine Tool ◽  
Inertia Matrix ◽  
Output Ratio ◽  
Two Degree Of Freedom

This article deals with the dimensional synthesis and dynamic manipulability of a planar two-degree-of-freedom (DOF) parallel manipulator. The dimensional synthesis based on the workspace and velocity output ratio is presented. The dynamic formulation is derived by using the virtual work principle. Taking into account that the accelerating capabilities at a given point along all directions are more isotropic, the condition number of inertia matrix in the dynamic equation is presented as an index to evaluate the dynamic manipulability of a manipulator. Furthermore, two global performance indices, which consider the mean value and standard deviation of the condition number of inertia matrix, are proposed, respectively. The dynamic manipulability of the parallel manipulator is more isotropic in the centre than at the peripheries of the workspace. The parallel manipulator is incorporated into a four-DOF hybrid machine tool, which also includes a two-DOF worktable.

scholarly journals Simulation and Optimisation of a Two Degree of Freedom, Planar, Parallel Manipulator

2021 ◽  
Author(s):  
◽  
Ben Haughey
Keyword(s):  
Genetic Algorithm ◽  
Simulation Model ◽  
Cycle Time ◽  
Parallel Manipulator ◽  
Robotic Manipulators ◽  
Degree Of Freedom ◽  
End Effector ◽  
Planar Parallel Manipulator ◽  
Pick And Place ◽  
Two Degree Of Freedom

<p>Development in pick-and-place robotic manipulators continues to grow as factory processes are streamlined. One configuration of these manipulators is the two degree of freedom, planar, parallel manipulator (2DOFPPM). A machine building company, RML Engineering Ltd., wishes to develop custom robotic manipulators that are optimised for individual pick-and-place applications. This thesis develops several tools to assist in the design process. The 2DOFPPM’s structure lends itself to fast and accurate translations in a single plane. However, the performance of the 2DOFPPM is highly dependent on its dimensions. The kinematics of the 2DOFPPM are explored and used to examine the reachable workspace of the manipulator. This method of analysis also gives insight into the relative speed and accuracy of the manipulator’s end-effector in the workspace. A simulation model of the 2DOFPPM has been developed in Matlab’s® SimMechanics®. This allows the detailed analysis of the manipulator’s dynamics. In order to provide meaningful input into the simulation model, a cubic spline trajectory planner is created. The algorithm uses an iterative approach of minimising the time between knots along the path, while ensuring the kinematic and dynamic limits of the motors and end-effector are abided by. The resulting trajectory can be considered near-minimum in terms of its cycle-time. The dimensions of the 2DOFPPM have a large effect on the performance of the manipulator. Four major dimensions are analysed to see the effect each has on the cycle-time over a standardised path. The dimensions are the proximal and distal arms, spacing of the motors and the height of the manipulator above the workspace. The solution space of all feasible combinations of these dimensions is produced revealing cycle-times with a large degree of variation over the same path. Several optimisation algorithms are applied to finding the manipulator configuration with the fastest cycle-time. A random restart hill-climber, stochastic hill-climber, simulated annealing and a genetic algorithm are developed. After each algorithm’s parameters are tuned, the genetic algorithm is shown to outperform the other techniques.</p>

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