Analysis of Structural Parameter and Design of Elbow Joint Rehabilitation Parallel Robot

2013 ◽  
Vol 749 ◽  
pp. 322-327
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Objective Function ◽  
Human Body ◽  
Elbow Joint ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Optimization Method ◽  
Parallel Robot ◽  
Structural Parameter ◽  
Solution Equation ◽  
Spherical Parallel Mechanism

Elbow joint is one of the body's important joints, most of the activities of the human body are inseparable from the elbow joint, and including taking and holding movements.In order to increase the workspace of elbow joint, a novel elbow joint rehabilitation parallel robot based on 2-DOF orthogonal spherical parallel mechanism is proposed. First, the position inverse solution equation of elbow joint is established. Further, the workspace of elbow joint is analyzed. The optimal structural parameters are obtained by use of the objective function of optimization method. Finally, the virtual prototype of elbow joint rehabilitation parallel robot is designed using optimal structural dimensions parameters.

Structural Parameter Optimization for 3-DOF Spherical Parallel Mechanism, Binocular Stereo

2012 ◽  
Vol 11 (7) ◽  
pp. 859-867 ◽  
Author(s):  
Shaorong Xie ◽  
Shuping Li ◽  
Junjie Huang ◽  
Hengyu Li ◽  
Jun Luo
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameter ◽  
Binocular Stereo ◽  
Spherical Parallel Mechanism

Design Optimization of 6-HTRT Parallel Robot Orientated on Workspace

2003 ◽  
Author(s):  
Hui Yu ◽  
Jinsong Wang ◽  
Guanghong Duan ◽  
Lining Sun
Keyword(s):  
Design Optimization ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Objective Functions ◽  
Restriction Factors

In this paper an optimization method based on the Mechanics of Parallel Robots and orientated on workspace is conducted in the construction of 6-HTRT parallel robot. By analyzing the characteristics of specific workspace and setting up objective functions, optimizations are implemented on the design of parallel robot. As a result of the optimization design, the parallel robot not only figures the minimum overall size of robot structural, but also has workspace unrestricted by the limit range of Hooke joint’s conical angles. The restriction factors on workspace of 6-HTRT parallel robot are reduced thus the algorithm for motion control of the robot is simplified and the performance of the parallel mechanism is improved.

Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint

2009 ◽  
Vol 69-70 ◽  
pp. 585-589 ◽  
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Elbow Joint ◽  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Smooth Boundary ◽  
Evaluation Index ◽  
Vector Method ◽  
Input And Output ◽  
Spherical Parallel Mechanism ◽  
Relationship Of ◽  
The Relationship

The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.

Parameter Optimization Design of a Novel Robot Shoulder Based on the Workspace

2013 ◽  
Vol 749 ◽  
pp. 561-565
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Shoulder Joint ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Structural Parameters ◽  
Connecting Rod ◽  
Spherical Parallel Mechanism ◽  
Kinematic Performance ◽  
Joint Mechanism ◽  
Parameter Optimization Design ◽  
Mechanical Constraint

A robot shoulder joint should have good kinematic performance and workspace, but the structural parameters of shoulder joint directly affect the workspace. In order to increase the workspace of shoulder joint, a novel robot shoulder joint based on 3-DOF orthogonal spherical parallel mechanism is proposed. This paper studied the influence on its workspace affected by the variation of structural parameters of the connecting rod, frame connecting rod, rod diameter of this shoulder joint mechanism. Based on the consideration of mechanical constraint, the objective function of the optimal structural parameters of the shoulder joint is established. Having the maximum the workspace, the structural parameters of shoulder joint are gained.

Structural Parameter Optimization and Simulation Analysis of the Chemical Sensor Support for Food Safety Detection

2010 ◽  
Vol 439-440 ◽  
pp. 875-879
Author(s):  
Fu Zhao ◽  
Ping Wang ◽  
Yan Jue Gong ◽  
Li Zhang ◽  
Chun Ling Meng
Keyword(s):  
Food Safety ◽  
Chemical Sensor ◽  
Simulation Analysis ◽  
Structural Parameters ◽  
Dynamic Stiffness ◽  
Optimization Method ◽  
Structural Parameter ◽  
Element Analysis ◽  
Food Detection ◽  
Optimization And Simulation

This paper focuses on the structural optimization of chemical sensor support for food safety detection. The mechanical characteristic of chemical sensor support is influenced greatly by its structural parameters. Aiming at improving dynamic stiffness of the support, the modal analysis is implemented with the dynamic theory and the finite element analysis. And a group of rational structure parameters are determined through the optimum calculation. The validity simulation of the optimization is verified by the analyses of the random vibration and harmonic response. The results demonstrate that the performance of the support of the chemical sensor applied for the food detection is enhanced greatly by the presented optimization method here.

scholarly journals Optimal Placement and Sizing of D-STATCOM in Radial and Meshed Distribution Networks Using a Discrete-Continuous Version of the Genetic Algorithm

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1452
Author(s):  
Cristian Mateo Castiblanco-Pérez ◽  
David Esteban Toro-Rodríguez ◽  
Oscar Danilo Montoya ◽  
Diego Armando Giral-Ramírez
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Programming Model ◽  
Distribution Networks ◽  
Optimization Method ◽  
Optimal Placement ◽  
Mixed Integer ◽  
Power Balance ◽  
Continuous Version ◽  
Discrete Part

In this paper, we propose a new discrete-continuous codification of the Chu–Beasley genetic algorithm to address the optimal placement and sizing problem of the distribution static compensators (D-STATCOM) in electrical distribution grids. The discrete part of the codification determines the nodes where D-STATCOM will be installed. The continuous part of the codification regulates their sizes. The objective function considered in this study is the minimization of the annual operative costs regarding energy losses and installation investments in D-STATCOM. This objective function is subject to the classical power balance constraints and devices’ capabilities. The proposed discrete-continuous version of the genetic algorithm solves the mixed-integer non-linear programming model that the classical power balance generates. Numerical validations in the 33 test feeder with radial and meshed configurations show that the proposed approach effectively minimizes the annual operating costs of the grid. In addition, the GAMS software compares the results of the proposed optimization method, which allows demonstrating its efficiency and robustness.

scholarly journals Topology Optimization of Hard-Coating Thin Plate for Maximizing Modal Loss Factors

Coatings ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 774
Author(s):  
Haitao Luo ◽  
Rong Chen ◽  
Siwei Guo ◽  
Jia Fu
Keyword(s):  
Topology Optimization ◽  
Objective Function ◽  
Composite Plates ◽  
Optimization Method ◽  
Hard Coating ◽  
Design Variables ◽  
Coating Composite ◽  
Damping Materials ◽  
Topology Optimization Method ◽  
Loss Factors

At present, hard coating structures are widely studied as a new passive damping method. Generally, the hard coating material is completely covered on the surface of the thin-walled structure, but the local coverage cannot only achieve better vibration reduction effect, but also save the material and processing costs. In this paper, a topology optimization method for hard coated composite plates is proposed to maximize the modal loss factors. The finite element dynamic model of hard coating composite plate is established. The topology optimization model is established with the energy ratio of hard coating layer to base layer as the objective function and the amount of damping material as the constraint condition. The sensitivity expression of the objective function to the design variables is derived, and the iteration of the design variables is realized by the Method of Moving Asymptote (MMA). Several numerical examples are provided to demonstrate that this method can obtain the optimal layout of damping materials for hard coating composite plates. The results show that the damping materials are mainly distributed in the area where the stored modal strain energy is large, which is consistent with the traditional design method. Finally, based on the numerical results, the experimental study of local hard coating composites plate is carried out. The results show that the topology optimization method can significantly reduce the frequency response amplitude while reducing the amount of damping materials, which shows the feasibility and effectiveness of the method.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

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