Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Robotica ◽  
2021 ◽  
pp. 1-17
Author(s):  
Ruobing Wang ◽  
Yangmin Li
Keyword(s):  
Optimal Design ◽  
Parallel Robot ◽  
Complex Model ◽  
Design Parameters ◽  
Performance Indices ◽  
Multi Objective

Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR.

Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints

2012 ◽  
Vol 4 (3) ◽  
Author(s):  
Songtao Liu ◽  
Tian Huang ◽  
Jiangping Mei ◽  
Xueman Zhao ◽  
Panfeng Wang ◽  
...  
Keyword(s):  
Optimal Design ◽  
Dynamic Performance ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Rigid Body Dynamics ◽  
Performance Indices ◽  
Global Dynamic ◽  
Transmission Angle ◽  
Body Dynamics ◽  
Rigid Design

This paper deals with the optimal design of a 4-DOF SCARA type (three translations and one rotation) parallel robot using dynamic performance indices and angular constraints within and amongst limbs. The architecture of the robot is briefly addressed with emphasis on the mechanical realization of the articulated traveling plate for achieving a lightweight yet rigid design. On the basis of the kinematic singularity analysis, two types of transmission angle constraints are considered to ensure the kinematic performance. A simplified model of rigid body dynamics is then formulated, with which two global dynamic performance indices are proposed for minimization by taking into account both inertial and centrifugal/Coriolis effects. In addition, the servomotor specifications are estimated using the Extended Adept Cycle. The proposed approach has successfully been employed to develop a prototype machine.

Optimal Design Parameters of Cab’s Isolation System for Vibratory Roller Using a Multi-Objective Genetic Algorithm

2018 ◽  
Vol 875 ◽  
pp. 105-112 ◽  
Author(s):  
Van Quynh Le ◽  
Khac Tuan Nguyen
Keyword(s):  
Genetic Algorithm ◽  
Optimal Design ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Ride Comfort ◽  
Design Parameters ◽  
Nonlinear Dynamic Model ◽  
Nsga Ii ◽  
Isolation System ◽  
Multi Objective

In order to improve the vibratory roller ride comfort, a multi-objective optimization method based on the improved genetic algorithm NSGA-II is proposed to optimize the design parameters of cab’s isolation system when vehicle operates under the different conditions. To achieve this goal, 3D nonlinear dynamic model of a single drum vibratory roller was developed based on the analysis of the interaction between vibratory roller and soil. The weighted r.m.s acceleration responses of the vertical driver’s seat, pitch and roll angle of the cab are chosen as the objective functions. The optimal design parameters of cab’s isolation system are indentified based on a combination of the vehicle nonlinear dynamic model of Matlab/Simulink and the NSGA - II genetic algorithm method. The results indicate that three objective function values are reduced significantly to improve vehicle ride comfort.

scholarly journals Geometry analysis and optimal design of Geneva mechanisms with curved slots

2004 ◽  
Vol 218 (4) ◽  
pp. 449-459 ◽  
Author(s):  
J-J Lee ◽  
K-F Huang
Keyword(s):  
Optimal Design ◽  
Structural Performance ◽  
Design Parameters ◽  
Performance Indices ◽  
Mathematical Expressions ◽  
Crank Angle ◽  
Conjugate Surfaces ◽  
Geometry Analysis ◽  
Maximum Contact ◽  
Roller Radius

A systematic procedure is proposed for the design of Geneva mechanisms with curved slots. Based on the theory of conjugate surfaces, mathematical expressions for the slot profile, pressure angle and cutter's location for manufacturing are presented. In addition, to evaluate the combined kinematics and structural performance of the mechanism, the maximum contact stress and degree of wear are established as the performance index. Effects of variations in various design parameters on the values of the performance indices are investigated. Using the indices as the objective function, the optimum design that takes into account the initial crank angle, offset and roller radius is performed.

scholarly journals Multi-objective optimal design of sliding mode control with parallel simple cell mapping method

2016 ◽  
Vol 23 (1) ◽  
pp. 46-54 ◽  
Author(s):  
Zhi-Chang Qin ◽  
Fu-Rui Xiong ◽  
Qian Ding ◽  
Carlos Hernández ◽  
Jesús Fernandez ◽  
...  
Keyword(s):  
Optimal Design ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mapping Method ◽  
Simple Cell ◽  
Design Parameters ◽  
Cell Mapping ◽  
Multi Objective ◽  
Mode Control ◽  
Simple Cell Mapping

This paper presents a study of the multi-objective optimal design of a sliding mode control for an under-actuated nonlinear system with the parallel simple cell mapping method. The multi-objective optimal design of the sliding mode control involves six design parameters and five objective functions. The parallel simple cell mapping method finds the Pareto set and Pareto front efficiently. The parallel computing is done on a graphics processing unit. Numerical simulations and experiments are done on a rotary flexible arm system. The results show that the proposed multi-objective designs are quite effective.

scholarly journals Finite Element Based Overall Optimization of Switched Reluctance Motor Using Multi-Objective Genetic Algorithm (NSGA-II)

Mathematics ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 576
Author(s):  
Mohamed El-Nemr ◽  
Mohamed Afifi ◽  
Hegazy Rezk ◽  
Mohamed Ibrahim
Keyword(s):  
Genetic Algorithm ◽  
Finite Element ◽  
Optimal Design ◽  
Switched Reluctance Motor ◽  
Design Parameters ◽  
Objective Functions ◽  
Nsga Ii ◽  
Switched Reluctance ◽  
Multi Objective ◽  
Reluctance Motor

The design of switched reluctance motor (SRM) is considered a complex problem to be solved using conventional design techniques. This is due to the large number of design parameters that should be considered during the design process. Therefore, optimization techniques are necessary to obtain an optimal design of SRM. This paper presents an optimal design methodology for SRM using the non-dominated sorting genetic algorithm (NSGA-II) optimization technique. Several dimensions of SRM are considered in the proposed design procedure including stator diameter, bore diameter, axial length, pole arcs and pole lengths, back iron length, shaft diameter as well as the air gap length. The multi-objective design scheme includes three objective functions to be achieved, that is, maximum average torque, maximum efficiency and minimum iron weight of the machine. Meanwhile, finite element analysis (FEA) is used during the optimization process to calculate the values of the objective functions. In this paper, two designs for SRMs with 8/6 and 6/4 configurations are presented. Simulation results show that the obtained SRM design parameters allow better average torque and efficiency with lower iron weight. Eventually, the integration of NSGA-II and FEA provides an effective approach to obtain the optimal design of SRM.

Multi-Objective Optimal Design and Validation of Sliding Mode Control

2015 ◽  
Author(s):  
Zhi-Chang Qin ◽  
Fu-Rui Xiong ◽  
Qian Ding ◽  
Carlos Hernández ◽  
Jesús Fernandez ◽  
...  
Keyword(s):  
Optimal Design ◽  
Mapping Method ◽  
Simple Cell ◽  
Design Parameters ◽  
Processing Unit ◽  
Cell Mapping ◽  
Slide Mode Control ◽  
Multi Objective ◽  
Mode Control ◽  
Simple Cell Mapping

This paper presents a study of multi-objective optimal design of a slide mode control for an under-actuated nonlinear system with the parallel simple cell mapping method. The multi-objective optimal design of the slide mode control involves 6 design parameters and 5 objective functions. The parallel simple cell mapping method finds the Pareto set and Pareto front efficiently. The parallel computing is done on a graphic processing unit (GPU). Numerical simulations and experiments are done on a rotary flexible arm system. The results show that the proposed multi-objective designs are quite effective.

Multi-objective optimal design of flexible-joint parallel robot

2018 ◽  
Vol 35 (8) ◽  
pp. 2775-2801 ◽  
Author(s):  
Fabian Andres Lara-Molina ◽  
Didier Dumur ◽  
Karina Assolari Takano
Keyword(s):  
Optimal Design ◽  
Position Control ◽  
Structural Parameters ◽  
Design Procedure ◽  
Parallel Robot ◽  
Performance Criteria ◽  
Design Criteria ◽  
Flexible Joints ◽  
Content Type ◽  
Multi Objective

Purpose This paper aims to present the optimal design procedure of a symmetrical 2-DOF parallel planar robot with flexible joints by considering several performance criteria based on the workspace size, dynamic dexterity and energy of the control. Design/methodology/approach Consequently, the optimal design consists in determining the dimensional parameters to maximize the size of the workspace, maximize the dynamic dexterity and minimize the energy of the control action. The design criteria are derived from the kinematics, dynamics, elastodynamics and the position control law of the robot. The analysis of the design criteria is performed by means of the design space and atlases. Findings Finally, the multi-objective design optimization derived from the optimal design procedure is solved by using multi-objective genetic algorithms, and the results are analyzed to assess the validity of the proposed approach. Originality/value An alternative approach to the design of a planar parallel robot with flexible joints that permits determining the structural parameters by considering kinematic, dynamic and control operational performance.

Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks

2021 ◽  
Vol 156 ◽  
pp. 104141
Author(s):  
Ines Ben Hamida ◽  
Med Amine Laribi ◽  
Abdelfattah Mlika ◽  
Lotfi Romdhane ◽  
Saïd Zeghloul ◽  
...  
Keyword(s):  
Optimal Design ◽  
Parallel Robot ◽  
Multi Objective ◽  
Rehabilitation Tasks
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