Swarm solar rooftop system using 6 DoF parallel manipulators and two axes linear movement

2021 ◽  
Author(s):  
Soham Parlikar ◽  
Gauri Karnik
Keyword(s):  
Parallel Manipulators ◽  
Linear Movement

scholarly journals Assessment of the Multi-Location External Workload Profile in the Most Common Movements in Basketball

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3441
Author(s):  
Carlos D. Gómez-Carmona ◽  
Sebastián Feu ◽  
José Pino-Ortega ◽  
Sergio J. Ibáñez
Keyword(s):  
Lower Limb ◽  
Repeated Measures ◽  
Ad Hoc ◽  
Physical Conditioning ◽  
Lumbar Region ◽  
Basketball Players ◽  
Eta Squared ◽  
Subject Variability ◽  
Acceleration And Deceleration ◽  
Linear Movement

The present study analyzed the multi-location external workload profile in basketball players using a previously validated test battery and compared the demands among anatomical locations. A basketball team comprising 13 semi-professional male players was evaluated in five tests (abilities/skills/tests): (a) aerobic, linear movement, 30-15 IFT; (b) lactic anaerobic, acceleration and deceleration, 16.25 m RSA (c) alactic anaerobic, curvilinear movement, 6.75 m arc (d) elastic, jump, Abalakov test (e) physical-conditioning, small-sided game, 10’ 3 vs.3 10 × 15 m. PlayerLoadRT was evaluated at six anatomical locations simultaneously (interscapular line, lumbar region, knees and ankles) by six WIMU PROTM inertial devices attached to the player using an ad hoc integral suit. Statistical analysis was composed of an ANOVA of repeated measures and partial eta squared effect sizes. Significant differences among anatomical locations were found in all tests with higher values in the location nearer to ground contact (p < 0.01). However, differences between lower limb locations were only found in curvilinear movements, with a higher workload in the outside leg (p < 0.01). Additionally, high between-subject variability was found in team players, especially at lower limb locations. In conclusion, multi-location evaluation in sports movements will make it possible to establish an individual external workload profile and design specific strategies for training and injury prevention programs.

scholarly journals Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection

2020 ◽  
Vol 53 (2) ◽  
pp. 8456-8461
Author(s):  
Dmitrii Dobriborsci ◽  
Sergey Kolyubin ◽  
Natalia Gorokhova ◽  
Marina Korotina ◽  
Alexey Bobtsov
Keyword(s):  
Motion Control ◽  
Finite Time ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Parallel Manipulators ◽  
Parametric Uncertainties

scholarly journals A Two-Stage Mono- and Multi-Objective Method for the Optimization of General UPS Parallel Manipulators

Mathematics ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 543
Author(s):  
Alejandra Ríos ◽  
Eusebio E. Hernández ◽  
S. Ivvan Valdez
Keyword(s):  
Genetic Algorithm ◽  
Performance Metrics ◽  
Tracking Error ◽  
Parallel Manipulators ◽  
Optimization Method ◽  
Statistical Hypothesis ◽  
Two Stage ◽  
Multi Objective ◽  
Second Stage ◽  
Conflicting Objectives

This paper introduces a two-stage method based on bio-inspired algorithms for the design optimization of a class of general Stewart platforms. The first stage performs a mono-objective optimization in order to reach, with sufficient dexterity, a regular target workspace while minimizing the elements’ lengths. For this optimization problem, we compare three bio-inspired algorithms: the Genetic Algorithm (GA), the Particle Swarm Optimization (PSO), and the Boltzman Univariate Marginal Distribution Algorithm (BUMDA). The second stage looks for the most suitable gains of a Proportional Integral Derivative (PID) control via the minimization of two conflicting objectives: one based on energy consumption and the tracking error of a target trajectory. To this effect, we compare two multi-objective algorithms: the Multiobjective Evolutionary Algorithm based on Decomposition (MOEA/D) and Non-dominated Sorting Genetic Algorithm-III (NSGA-III). The main contributions lie in the optimization model, the proposal of a two-stage optimization method, and the findings of the performance of different bio-inspired algorithms for each stage. Furthermore, we show optimized designs delivered by the proposed method and provide directions for the best-performing algorithms through performance metrics and statistical hypothesis tests.

scholarly journals On one approach to the approximation of solutions to the direct kinematics problem of parallel manipulators

2020 ◽  
Vol 10 (1) ◽  
pp. 65-70
Author(s):  
Andrei Gorchakov ◽  
Vyacheslav Mozolenko
Keyword(s):  
Neural Network ◽  
Bounded Function ◽  
Parallel Manipulators ◽  
Feedforward Neural Network ◽  
Numerical Implementation ◽  
Continuous Bounded Function ◽  
Space Filling ◽  
Space Filling Curves ◽  
Direct Kinematics

AbstractAny real continuous bounded function of many variables is representable as a superposition of functions of one variable and addition. Depending on the type of superposition, the requirements for the functions of one variable differ. The article investigated one of the options for the numerical implementation of such a superposition proposed by Sprecher. The superposition was presented as a three-layer Feedforward neural network, while the functions of the first’s layer were considered as a generator of space-filling curves (Peano curves). The resulting neural network was applied to the problems of direct kinematics of parallel manipulators.

Intra-Task Reliability and Specificity of Individual Consistency

1970 ◽  
Vol 30 (2) ◽  
pp. 583-587 ◽  
Author(s):  
Albert V. Carron
Keyword(s):  
Motor Response ◽  
Present Report ◽  
Motor Task ◽  
Response Component ◽  
Linear Movement ◽  
The Mean ◽  
Individual Consistency ◽  
Response Consistency ◽  
Relationship Of ◽  
The Relationship

The present report is based on reanalysis of data of Marisi (1969) in order to examine the relationship of consistency of motor response among the component responses of a single motor task. 120 high school Ss were tested on a special task, the rho. A single trial on this motor task can be logically separated into three component motor responses: reaction time, a short circular movement, and a short linear movement. The results indicated that consistency of motor response was moderately reliable within the response components but tended to be response-component specific. Further, both the reliability and specificity of motor-response consistency were independent of the size of the mean performance scores.

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong ◽  
James Ritchie
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Workspace Analysis ◽  
Computer Aided ◽  
Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Zeroing dynamics based motion control scheme for parallel manipulators

2017 ◽  
Vol 53 (2) ◽  
pp. 74-75 ◽  
Author(s):  
Yunong Zhang ◽  
Liangyu He ◽  
Shuai Li ◽  
Dechao Chen ◽  
Yaqiong Ding
Keyword(s):  
Motion Control ◽  
Parallel Manipulators ◽  
Control Scheme
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