Realization of Pressfitting by Impact Manipulation Using an Under-Actuated Manipulator

2008 ◽  
Vol 2 (4) ◽  
pp. 305-311 ◽  
Author(s):  
Shinichiro Shindo ◽  
◽  
Shingo Tomita ◽  
Yasumichi Aiyama
Keyword(s):  
Genetic Algorithm ◽  
Robot Manipulator ◽  
Sweet Spot ◽  
End Effector ◽  
Simple Genetic Algorithm ◽  
Large Force ◽  
The Relationship

Impact manipulation instantaneously generates a large force making it effective for pressfitting. We model pressfitting and analyze it for realization by a robot manipulator, analyzing the relationship between hit speed and pressfitting depth to determine the hit speed required for different pressfitting depths. We use an under-actuated manipulator for hitting the “sweet spot” of the end effector, introducing a simple genetic algorithm to plan manipulator movement to generate the desired hit speed. Results of experiments on pressfitting for driving an under-actuated manipulator verified the feasibility of our proposal.

scholarly journals ANALISA FORWARD KINEMATIC PADA SIMULATOR ARM ROBOT 5 DOF YANG MENGINTEGRASIKAN MIKROKONTROLER ARDUINO-UNO DAN LABVIEW

ROTASI ◽  
2013 ◽  
Vol 15 (2) ◽  
pp. 37
Author(s):  
Munadi Munadi
Keyword(s):  
Robot Manipulator ◽  
Angular Position ◽  
Servo Motor ◽  
End Effector ◽  
Position Errors ◽  
Position And Orientation ◽  
The Individual ◽  
Forward Kinematic ◽  
The Relationship ◽  
Numerical Program

An arm robot simulator has been developed, that capable in simulating a 5 degree of freedom robot manipulator, in which it was equipped with two-finger gripper mechanism at end-effector. This simulator is designed for educational purposes so that many students can easily understand when learning about robot manipulator. The simulator was developed using Ardiuno Uno with LabVIEW through the Firmata interface for controlling the actuators (servo motors). Ardiuno Uno was chosen because it can interact with LabVIEW that will be able to control the angular position of servo motor easily. Angular position errors that occur on the servo motor can be solved by using a numerical program functions and numerical multiply divided on LabVIEW. For analysis, this paper presents the forward kinematics problem which is concerned with the relationship between the individual joints of the arm robot simulator and the position and orientation of the tool or end-effector. The analysis result is carried out in MATLAB.

scholarly journals The Simple Genetic Algorithm and the Walsh Transform: Part II, The Inverse

1998 ◽  
Vol 6 (3) ◽  
pp. 275-289 ◽  
Author(s):  
Michael D. Vose ◽  
Alden H. Wright
Keyword(s):  
Genetic Algorithm ◽  
Fixed Point ◽  
Fixed Points ◽  
Walsh Transform ◽  
Next Generation ◽  
Simple Genetic Algorithm ◽  
The Relationship ◽  
Crossover And Mutation ◽  
Special Case ◽  
Walsh Basis

This paper continues the development, begun in Part I, of the relationship between the simple genetic algorithm and the Walsh transform. The mixing scheme (comprised of crossover and mutation) is essentially “triangularized” when expressed in terms of the Walsh basis. This leads to a formulation of the inverse of the expected next generation operator. The fixed points of the mixing scheme are also determined, and a formula is obtained giving the fixed point corresponding to any starting population. Geiringer's theorem follows from these results in the special case corresponding to zero mutation.

scholarly journals A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

scholarly journals A Multiple Mitosis Genetic Algorithm

2019 ◽  
Vol 8 (3) ◽  
pp. 252
Author(s):  
K. Kamil ◽  
K.H Chong ◽  
H. Hashim ◽  
S.A. Shaaya
Keyword(s):  
Genetic Algorithm ◽  
Optimization Problem ◽  
Total Population ◽  
Global Optimum ◽  
Natural Process ◽  
Local Optimum ◽  
Simple Genetic Algorithm ◽  
Cell Reproduction ◽  
Solve Optimization Problem ◽  
High Diversity

<p>Genetic algorithm is a well-known metaheuristic method to solve optimization problem mimic the natural process of cell reproduction. Having great advantages on solving optimization problem makes this method popular among researchers to improve the performance of simple Genetic Algorithm and apply it in many areas. However, Genetic Algorithm has its own weakness of less diversity which cause premature convergence where the potential answer trapped in its local optimum.  This paper proposed a method Multiple Mitosis Genetic Algorithm to improve the performance of simple Genetic Algorithm to promote high diversity of high-quality individuals by having 3 different steps which are set multiplying factor before the crossover process, conduct multiple mitosis crossover and introduce mini loop in each generation. Results shows that the percentage of great quality individuals improve until 90 percent of total population to find the global optimum.</p>

scholarly journals A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices

2016 ◽  
Vol 5 (3) ◽  
pp. 213
Author(s):  
Mohammad Reza Elhami ◽  
Iman Dashti
Keyword(s):  
Robot Manipulator ◽  
Robot Kinematics ◽  
Coordinate Frame ◽  
End Effector ◽  
New Approach ◽  
Transformation Matrices ◽  
The World ◽  
Convenient Approach ◽  
Position And Orientation ◽  
Relative Transformation

In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.

scholarly journals Automated Axis Alignment for a Nanomanipulator inside SEM and Its Error Optimization

Scanning ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-8
Author(s):  
Chao Zhou ◽  
Lu Deng ◽  
Long Cheng ◽  
Zhiqiang Cao ◽  
Shuo Wang ◽  
...  
Keyword(s):  
Average Method ◽  
Closed Loop ◽  
Alignment Method ◽  
Visual Servo ◽  
End Effector ◽  
Axis Alignment ◽  
Deposition Effect ◽  
Relationship Of ◽  
The Relationship ◽  
Error Optimization

In the motion of probing nanostructures, repeating position and movement is frequently happing and tolerance for position error is stringent. The consistency between the axis of manipulators and image is very significant since the visual servo is the most important tool in the automated manipulation. This paper proposed an automated axis alignment method for a nanomanipulator inside the SEM by recognizing the position of a closed-loop controlling the end-effector, which can characterize the relationship of these two axes, and then the rotation matrix can be calculated accordingly. The error of this method and its transfer function are also calculated to compare the iteration method and average method. The method in this paper can accelerate the process of axis alignment to avoid the electron beam induced deposition effect on the end tips. Experiment demonstration shows that it can achieve a 0.1-degree precision in 90 seconds.

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