Workspace Analysis and Optimal Design of a Translational Cable-Driven Parallel Robot With Passive Springs

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Zhaokun Zhang ◽  
Zhufeng Shao ◽  
Fazhong Peng ◽  
Haisheng Li ◽  
Liping Wang
Keyword(s):  
Optimal Design ◽  
High Speed ◽  
Simple Structure ◽  
Design Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Force Transmission ◽  
Workspace Analysis ◽  
The Matrix ◽  
Optimal Design Method

Abstract Cable-driven parallel robots (CDPRs) have great prospects for high-speed applications because of their nature of low inertia and good dynamics. Existing high-speed CDPRs mainly adopt redundant cables to keep positive cable tensions. Redundant cables lead to complex and costly structure, and are likely to cause interference. In this study, a non-redundant CDPR for high-speed translational motions is designed with passive springs and parallel cables. First, the configuration of the CDPR is illustrated, and its kinematics and dynamics are studied. Then, the workspace of the CDPR is discussed in detail. The condition of positive cable tensions is proved. The influence of the springs’ layout on the workspace is analyzed. A method for determining the regular cylindrical operation workspace is proposed. Furthermore, the optimal design method for high-speed CDPRs with passive springs is developed. Performance indices for evaluating the force transmission are defined based on the matrix orthogonal degree. The geometric parameters are optimized based on the workspace and force transmission indices. The stiffness coefficient of the spring is determined based on the acceleration and cable tension requirements. Finally, the proposed CDPR and the traditional CDPR with redundant cables are compared through simulation. The results show that the designed CDPR possesses advantages in energy consumption and simple structure compared to CDPR with redundant cables.

Optimal Design for Partial Inertia Force Cancellation in Ultra High Speed Pressing Machine

2011 ◽  
Vol 291-294 ◽  
pp. 1909-1916 ◽  
Author(s):  
Jian Yu Bai ◽  
Zaihe Yu ◽  
Sen Lin Tong ◽  
Di Zheng
Keyword(s):  
Optimal Design ◽  
High Speed ◽  
Design Method ◽  
Inertia Force ◽  
Driving Mechanism ◽  
Kinematics Analysis ◽  
Ultra High Speed ◽  
Optimal Design Method ◽  
Inertia Forces ◽  
Manufacturing Machine

The severe vibration and noise caused by inertia forces within a manufacturing machine are often the bottleneck in increasing the manufacturing speed. Based on kinematics analysis of the applied driving mechanism, this paper proposes an optimal design method for partially canceling the inertia force in pressing machine by using limited number of weight-balancing blocks. The proposed method has been validated by simulations.

Technology-Oriented Synchronous Optimal Design of a 4-Degrees-of-Freedom High-Speed Parallel Robot

2020 ◽  
Vol 142 (10) ◽  
Author(s):  
Gang Han ◽  
Fugui Xie ◽  
Xin-Jun Liu ◽  
Qizhi Meng ◽  
Sai Zhang
Keyword(s):  
Optimal Design ◽  
Parameter Optimization ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Interaction Mechanism ◽  
Optimization Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Parameters Optimization ◽  
Nonlinear Design

Abstract Parameters optimization is complicated by various parameters and nonlinear design problems. In this paper, the interaction mechanism of motion/force transmissibility and various parameters on normalized motor torque and speed of a four degrees-of-freedom (4-DOF) high-speed parallel robot is analyzed. Based on this interaction mechanism, evaluation indices of acceleration capacity, speed ability, and adept cycle time are proposed. Through combining these indices with task requirements and technical criteria of driving systems, the technology-oriented constraints are set up and a parameter optimization method is proposed. With this method, the dimensional parameters, driving system specifications, and work pose of the robot have been synchronously optimized to ensure low driving torque and high pick-and-place frequency. This synchronous optimal design method is general and can be further applied to parameter optimization for different types of parallel robots.

scholarly journals Development of Optimal Design Method for Steel Double-Beam Floor System Considering Rotational Constraints

2021 ◽  
Vol 11 (7) ◽  
pp. 3266
Author(s):  
Insub Choi ◽  
Dongwon Kim ◽  
Junhee Kim
Keyword(s):  
Optimal Design ◽  
Design Process ◽  
Design Method ◽  
Steel Beams ◽  
High Gravity ◽  
Double Beam ◽  
Iterative Analysis ◽  
Floor Systems ◽  
Optimal Design Method ◽  
Floor System

Under high gravity loads, steel double-beam floor systems need to be reinforced by beam-end concrete panels to reduce the material quantity since rotational constraints from the concrete panel can decrease the moment demand by inducing a negative moment at the ends of the beams. However, the optimal design process for the material quantity of steel beams requires a time-consuming iterative analysis for the entire floor system while especially keeping in consideration the rotational constraints in composite connections between the concrete panel and steel beams. This study aimed to develop an optimal design method with the LM (Length-Moment) index for the steel double-beam floor system to minimize material quantity without the iterative design process. The LM index is an indicator that can select a minimum cross-section of the steel beams in consideration of the flexural strength by lateral-torsional buckling. To verify the proposed design method, the material quantities between the proposed and code-based design methods were compared at various gravity loads. The proposed design method successfully optimized the material quantity of the steel double-beam floor systems without the iterative analysis by simply choosing the LM index of the steel beams that can minimize objective function while satisfying the safety-related constraint conditions. In particular, under the high gravity loads, the proposed design method was superb at providing a quantity-optimized design option. Thus, the proposed optimal design method can be an alternative for designing the steel double-beam floor system.

Development of High-Speed Response Electromagnetic Linear Actuator Using for Pneumatic Control Valve

2014 ◽  
Vol 532 ◽  
pp. 41-45 ◽  
Author(s):  
Myung Jin Chung
Keyword(s):  
Optimal Design ◽  
Dynamic Characteristics ◽  
High Speed ◽  
Design Method ◽  
Control Valve ◽  
Design Parameters ◽  
Linear Actuator ◽  
Analytic Model ◽  
Electromagnetic Linear Actuator ◽  
Quadratic Programming Method

Analytic model of electromagnetic linear actuator in the function of electric and geometric parameters is proposed and the effects of the design parameters on the dynamic characteristics are analyzed. To improve the dynamic characteristics, optimal design is conducted by applying sequential quadratic programming method to the analytic model. This optimal design method aims to minimize the response time and maximize force efficiency. By this procedure, electromagnetic linear actuator having high-speed characteristics is developed.

Static Analysis for a Novel 6-(P-2P-S) Parallel Robot

2009 ◽  
Vol 69-70 ◽  
pp. 580-584 ◽  
Author(s):  
D.F. Zhang ◽  
Feng Gao
Keyword(s):  
Carrying Capacity ◽  
Simple Structure ◽  
Jacobian Matrix ◽  
Parallel Robot ◽  
Singular Value ◽  
Force Transmission ◽  
Practical Application ◽  
Positioning Device ◽  
Orientation Parameters ◽  
Orientation Workspace

A novel 6-(P-2P-S) parallel robot is put forward. With the characters of some movement decoupling on the orthogonal pose, the robot can be used as the macro manipulator of the macro/micro dual driven robots. The macro manipulator as a high-precision positioning device, it is significant for the practical application and drive train design to research statics. First, the force Jacobian matrix is deduced, which is related to the orientation parameters. Then based on the Jacobian matrix singular value decomposed characteristic, the static force transmission evaluation indicators Kf and Km are defined. Finally, considering structure constraints and parameters, the distribution of evaluation indicators in the orientation workspace is drawn, which provide the theoretical base for the design and applications of the robot. Because of the characters of simple structure, high carrying capacity, less motion inertia, good manufacturability, the 6-(P-2P-S) parallel macro manipulator has been designed.

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