A 5-DOF Hybrid Parallel Robotic Manipulator: Design, Analysis, Performance Modeling and Multi-Objective Optimization

2014 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Performance Analysis ◽  
Performance Modeling ◽  
Robotic Manipulator ◽  
Structure Design ◽  
Multi Objective Optimization ◽  
System Configuration ◽  
Performance Indices ◽  
Multi Objective ◽  
Manipulator Design ◽  
And Performance

The progress of the 21st century advanced and integrated manufacturing technology highly relies on the development of higher performance robotic system for rapidly adapting to the dramatic change of manufacturing environment and performance-critical applications. Based on this scenario, this research is focused on system configuration, performance analysis and multi-objective optimization of a new hybrid parallel robotic manipulator with two rotations and three translations. The structure design and the kinematic analysis are conducted. The key performance indices including local/global stiffness, local/global dexterity and workspace are modeled, visualized and optimized. The proposed method provides a unique viewpoint for the design optimization of multi-axis machine center based on system hybridization.

Optimal design of an asymmetrical parallel mechanism

2021 ◽  
pp. 095440622199007
Author(s):  
Mengli Wu ◽  
Yue Zhang ◽  
Xianqu Yue ◽  
Dongyang Lv ◽  
Mo Chen ◽  
...  
Keyword(s):  
Superposition Principle ◽  
Optimization Method ◽  
Multi Objective Optimization ◽  
Performance Indices ◽  
Linear Superposition ◽  
Ellipsoid Method ◽  
Multi Objective ◽  
Performance Atlas ◽  
Performance Evaluation Index ◽  
And Performance

Aiming at the aircraft composite skin grinding, a Three-DOF Asymmetrical Mechanism (TAM) is proposed to replace manual grinding. Considering asymmetrical characteristics of the TAM, the linear superposition principle is adopted to derive the total stiffness matrix of the mechanism. The driving force curves of numerical calculation and simulation are almost coincident; thus the correctness of the dynamic model is verified. The global kinematics condition number index is established with the velocity ellipsoid method. Similarly, the global stiffness performance evaluation index is constructed according to the stiffness ellipsoid method. Moreover, a new global acceleration dexterity index is proposed to overcome the limitations of the dynamics ellipsoid method. Based on the above models and performance indices, a new optimization method is proposed which combines both single and multi-objective optimization. Among the method, the multi-objective optimization is carried out with normalized weighted sum algorithm and genetic algorithm. This optimization method can not only improve the convergence speed, but also balance the weight of different performance indices. After optimization, the kinematics, stiffness and dynamics performance are significantly improved by contrast with the initial performance atlas. Therefore, the results indicate the effectiveness of the multi-objective optimization method.

scholarly journals Design of AC-DC Grid Connected Converter using Multi-Objective Optimization

2014 ◽  
Vol 5 (1) ◽  
pp. 11-19 ◽  
Author(s):  
Szymon Piasecki ◽  
Robert Szmurlo ◽  
Marek Jasinski
Keyword(s):  
Design Procedure ◽  
Optimization Method ◽  
Theoretical Research ◽  
Multi Objective Optimization ◽  
Performance Indices ◽  
Short Introduction ◽  
Multi Objective ◽  
High Efficient ◽  
Optimization Parameters ◽  
And Performance

Abstract Power electronic circuits, in particular AC-DC converters are complex systems, many different parameters and objectives have to be taken into account during the design process. Implementation of Multi-Objective Optimization (MOO) seems to be attractive idea, which used as designer supporting tool gives possibility for better analysis of the designed system. This paper presents a short introduction to the MOO applied in the field of power electronics. Short introduction to the subject is given in section I. Then, optimization process and its elements are briefly described in section II. Design procedure with proposed optimization parameters and performance indices for AC-DC Grid Connected Converter (GCC) interfacing distributed systems is introduced in section III. Some preliminary optimization results, achieved on the basis of analytical and simulation study, are shown at each stage of designing process. Described optimization parameters and performance indices are part of developed global optimization method dedicated for ACDC GCC introduced in section IV. Described optimization method is under development and only short introduction and basic assumptions are presented. In section V laboratory prototype of high efficient and compact 14 kVA AC-DC converter is introduced. The converter is elaborated based on performed designing and optimization procedure with the use of silicon carbide (SiC) power semiconductors. Finally, the paper is summarized and concluded in section VI. In presented work theoretical research are conducted in parallel with laboratory prototyping e.g. all theoretical ideas are verified in laboratory using modern DSP microcontrollers and prototypes of the ACDC GCC.

scholarly journals Design and characterization of effective solar cells

2021 ◽  
Author(s):  
Varun Ojha ◽  
Giorgio Jansen ◽  
Andrea Patanè ◽  
Antonino La Magna ◽  
Vittorio Romano ◽  
...  
Keyword(s):  
Solar Cells ◽  
Quantum Efficiency ◽  
Cost Benefit Analysis ◽  
Cost Minimization ◽  
Cell Structure ◽  
Cost Benefit ◽  
Structure Design ◽  
Multi Objective Optimization ◽  
Nsga Ii ◽  
Multi Objective

AbstractWe propose a two-stage multi-objective optimization framework for full scheme solar cell structure design and characterization, cost minimization and quantum efficiency maximization. We evaluated structures of 15 different cell designs simulated by varying material types and photodiode doping strategies. At first, non-dominated sorting genetic algorithm II (NSGA-II) produced Pareto-optimal-solutions sets for respective cell designs. Then, on investigating quantum efficiencies of all cell designs produced by NSGA-II, we applied a new multi-objective optimization algorithm II (OptIA-II) to discover the Pareto fronts of select (three) best cell designs. Our designed OptIA-II algorithm improved the quantum efficiencies of all select cell designs and reduced their fabrication costs. We observed that the cell design comprising an optimally doped zinc-oxide-based transparent conductive oxide (TCO) layer and rough silver back reflector (BR) offered a quantum efficiency ($$Q_e$$ Q e ) of 0.6031. Overall, this paper provides a full characterization of cell structure designs. It derives relationship between quantum efficiency, $$Q_e$$ Q e of a cell with its TCO layer’s doping methods and TCO and BR layer’s material types. Our solar cells design characterization enables us to perform a cost-benefit analysis of solar cells usage in real-world applications.

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