Analytical approach for optimal design of a type of spherical parallel manipulator using dexterous performance indices

2003 ◽  
Vol 217 (4) ◽  
pp. 447-455 ◽  
Author(s):  
T Huang ◽  
C M Gosselin ◽  
D J Whitehouse ◽  
D G Chetwynd
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Analytical Approach ◽  
Optimal Solution ◽  
Numerical Approach ◽  
Performance Indices ◽  
Symmetric Geometry ◽  
Global Optimal ◽  
Parametric Relationships ◽  
Spherical Parallel Manipulator

In this paper, an analytical approach for the optimal design of a type of spherical parallel manipulator with symmetric geometry is investigated. Both the condition number and the behaviour of the direct Jacobian matrix associated with the initial configuration are optimized, resulting in a set of closed-form parametric relationships that enables a global optimal performance index to be achieved in the overall workspace. It has been concluded that the global optimal solution is located on the loci of local optimal solutions. The outcome confirms analytically the optimality of the orthogonal spherical parallel manipulator achieved using the numerical approach.

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

Global Optimal Design of Nanomechanical Resonators

2013 ◽  
Author(s):  
Sung K. Koh ◽  
Yong Chul Kim
Keyword(s):  
Optimal Design ◽  
Fundamental Frequency ◽  
Design Problem ◽  
Optimal Solution ◽  
High Mass ◽  
Cross Sectional ◽  
Nanomechanical Resonator ◽  
Nanomechanical Resonators ◽  
Mass Sensitivity ◽  
Global Optimal

Novel nanomechanical resonators with high mass sensitivities are designed in an optimal manner. We are concerned with a nanomechanical resonator with step changes in cross section and determine its geometry so as to maximize its mass sensitivity. Since the mass sensitivity is proportional to the fundamental frequency, we decide the geometric shape so as to maximize the fundamental frequency. In particular, we design a cantilever resonator with a single discontinuity in its cross sectional area. As the design space of this design problem is decided by the volume of the resonator, we synthesize it for various prescribed volume constraints. The fundamental frequency is estimated based on the Euler-Bernoulli beam theory. We discovered that there is a unique global optimal solution of this design problem that does not depend on the given volume constraints. The mass sensitivity of optimally designed cantilever resonators is 1.9193 times greater than that of conventional uniform beam type resonators that are designed for the same volume. Consequently, the mass sensitivity of a nanomechanical uniform resonator of constant volume can always be enhanced without regard to its global size by modifying its geometry following the optimal design proposed in this paper.

Optimal Design of Double Sheet Piles in Deep Foundation Pit Based on UD-SVM

2013 ◽  
Vol 859 ◽  
pp. 100-104
Author(s):  
Zhi Hua Yu ◽  
Yue Gui ◽  
Zhao Chang Wang ◽  
Ying Jie Hou
Keyword(s):  
Optimal Design ◽  
Uniform Design ◽  
Optimal Solution ◽  
Support Vector ◽  
Current Standard ◽  
Deep Foundation ◽  
Foundation Pit ◽  
Deep Foundation Pit ◽  
Optimal Value ◽  
Global Optimal

In allusion to double sheet piles(DSP) global optimal solution, the response surface(RS) technique based on Uniform Design- Support Vector Machine(UD-SVM) was introduced to build the RS by nonparametric regression, thus to avoid the complex non-linear RS form between the double sheet piles parameters and indexes under the current standard. Use the Monte Carlo simulation as generator to produce samples, the RS can do considerable and non-repetitive efficiency prediction and get global optimal value satisfying to the target value with high accuracy and stability, also without figuring out the explicit formulations. This article applied the method to a double sheet piles optimal design, and took minimum engineering quantity as criterion to screen for the optimal parameters aiming at illustrating the feasibility.

Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

2020 ◽  
pp. 095440622093880
Author(s):  
Soheil Zarkandi
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Singularity ◽  
Revolute Joint ◽  
Wide Range ◽  
Moving Platform ◽  
Forward Kinematic ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper introduces a novel three degree-of-freedom spherical parallel manipulator with 3-PRR topology, where P and R denote a curved prismatic joint and a revolute joint, respectively. The first revolute joint of each PRR leg is actuated via a double Rzeppa-type driveshaft, and hence underlined. The manipulator has at most eight working modes and eight assembly modes. However, only one working mode and one assembly mode of the manipulator are acceptable during its motion which can be easily identified. Singularity and kinematic dexterity analyses reveal that the proposed 3-PRR spherical parallel manipulator has no forward kinematic singularity for a wide range of rotation of the moving platform around its central axis. An optimal design of the manipulator is also presented having a workspace with good kinematic dexterity.

Fuzzy Optimal Design of Tower Crane Jib

2011 ◽  
Vol 199-200 ◽  
pp. 530-533
Author(s):  
Xin Hua Li ◽  
Jian Zhou ◽  
Yi Zhang ◽  
Ling Dai
Keyword(s):  
Optimal Design ◽  
Optimization Model ◽  
Unique Feature ◽  
Optimal Solution ◽  
Amplification Coefficient ◽  
Constraint Condition ◽  
Global Optimal Solution ◽  
Tower Crane ◽  
Fuzzy Constraint ◽  
Global Optimal

This article takes the tower crane jib as the optimized object, in view of the jib unique feature, and has established the jib quality optimization objective function, then uses amplification coefficient to obtain its membership function to the fuzzy constraint condition,thus has transformed constraint condition very well. Direct searching tool-box of MATLAB software is adopted to get the optimization model,not only is simplified the optimization process,but also global optimal solution is found reliably.

Optimal design of a spherical parallel manipulator based on kinetostatic performance using evolutionary techniques

2016 ◽  
Vol 30 (3) ◽  
pp. 1323-1331 ◽  
Author(s):  
Morteza Daneshmand ◽  
Mohammad Hossein Saadatzi ◽  
Mohammad Hadi Farzaneh Kaloorazi ◽  
Mehdi Tale Masouleh ◽  
Gholamreza Anbarjafari
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Spherical Parallel Manipulator

Optimal design of a class of generalized symmetric Gough–Stewart parallel manipulators with dynamic isotropy and singularity-free workspace

Robotica ◽  
2011 ◽  
Vol 30 (2) ◽  
pp. 305-314 ◽  
Author(s):  
Zhizhong Tong ◽  
Jingfeng He ◽  
Hongzhou Jiang ◽  
Guangren Duan
Keyword(s):  
Particle Swarm Optimization ◽  
Optimal Design ◽  
Parallel Manipulator ◽  
Optimal Solution ◽  
Optimization Procedure ◽  
Singular Values ◽  
Parallel Manipulators ◽  
Swarm Optimization ◽  
Definition Of ◽  
Close Form

SUMMARYIn this paper, the definition of generalized symmetric Gough–Stewart parallel manipulators is presented. The concept of dynamic isotropy is proposed and the singular values of the bandwidth matrix are introduced to evaluate dynamic isotropy and solved analytically. Considering the payload's mass-geometry characteristics, the formulations for completely dynamic isotropy are derived in close form. It is proven that a generalized symmetric Gough–Stewart parallel manipulator is easer to achieve dynamic isotropy and applicable in engineering applications. An optimization procedure based on particle swarm optimization is proposed to obtain better dexterity and large singularity-free workspace, which guarantees the optimal solution and gives mechanically feasible realization.

AO-BBO: A Novel Optimization Algorithm and Its Application in Plant Drug Extraction

2019 ◽  
Vol 19 (2) ◽  
pp. 139-145 ◽  
Author(s):  
Bote Lv ◽  
Juan Chen ◽  
Boyan Liu ◽  
Cuiying Dong
Keyword(s):  
Optimization Algorithm ◽  
Learning Strategy ◽  
Optimal Solution ◽  
Population Diversity ◽  
Global Optimal Solution ◽  
Plant Medicine ◽  
Suitability Index ◽  
Sensing Model ◽  
Local Optimal Solution ◽  
Global Optimal

<P>Introduction: It is well-known that the biogeography-based optimization (BBO) algorithm lacks searching power in some circumstances. </P><P> Material & Methods: In order to address this issue, an adaptive opposition-based biogeography-based optimization algorithm (AO-BBO) is proposed. Based on the BBO algorithm and opposite learning strategy, this algorithm chooses different opposite learning probabilities for each individual according to the habitat suitability index (HSI), so as to avoid elite individuals from returning to local optimal solution. Meanwhile, the proposed method is tested in 9 benchmark functions respectively. </P><P> Result: The results show that the improved AO-BBO algorithm can improve the population diversity better and enhance the search ability of the global optimal solution. The global exploration capability, convergence rate and convergence accuracy have been significantly improved. Eventually, the algorithm is applied to the parameter optimization of soft-sensing model in plant medicine extraction rate. Conclusion: The simulation results show that the model obtained by this method has higher prediction accuracy and generalization ability.</P>

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