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.

Kinematic and Modal Simulation Analysis of the Bionic Eye Based on Spherical Parallel Mechanism (SPM)

2011 ◽  
Vol 128-129 ◽  
pp. 1151-1156 ◽  
Author(s):  
Jun Luo ◽  
Qi Ming Guo ◽  
Heng Yu Li ◽  
Chao Jiong Huang ◽  
Shao Rong Xie
Keyword(s):  
Modal Analysis ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Simulation Analysis ◽  
Displacement Velocity ◽  
Kinematics Analysis ◽  
End Effector ◽  
Bionic Eye ◽  
Spherical Parallel Mechanism

In order to realize stable tracking under bumpy environment, the robot bionic eye constructed by spherical parallel mechanism with 3 DOF is designed based on the characteristics of human being’s eyes. ANSYS and ADAMS are utilized to conduct modal and kinematics property analysis respectively. According to the result of ANSYS modal analysis, the structure highly meets the demands of function and reliability, which lays the foundation for optimization and bump-resistance design. Through ADAMS kinematics analysis, displacement, velocity and acceleration curves of mechanism end effector were obtained, which provides reference for motion control and optimization design.

Structural Parameter Optimization Design of Torsion Beam Semi-Independent Suspension Based on Multi-Island Genetic Algorithm

2019 ◽  
Vol 893 ◽  
pp. 109-115
Author(s):  
Peng Zhang ◽  
Hong Xin Wang ◽  
Xiao Dong Zhang ◽  
Chang Yong Cao
Keyword(s):  
Genetic Algorithm ◽  
Mathematical Model ◽  
Optimization Design ◽  
Simulation Analysis ◽  
Structural Parameters ◽  
Geometric Transformation ◽  
Structural Parameter ◽  
Front Suspension ◽  
Parameter Optimization Design ◽  
The Mathematical Model

In order to reduce the variation of suspension parameters during wheel runout, andimprove the handling stability of the whole vehicle, a method for optimal design of Torsional beamsuspension structural parameters based on Multi-island genetic algorithm is proposed. Study on theMacpherson Front suspension of a car, based on the Euler's four-element method of multi-bodydynamics and the spatial analytic geometric transformation formula, the mathematical model ofTorsional beam suspension is derived in this paper, the reliability of the mathematical model isverified by the simulation analysis of the corresponding Adams model. On this basis, the degree ofsuspension performance affected by structure parameters is obtained by Sensitivity analysis. Finally,the optimization of suspension performance is realized by modifying the parameters by usingMulti-island genetic algorithm, which plays an important role in the stability and safety of thewhole vehicle.

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.

Optimal design of a high homogeneous and small-size shim coil for atomic spin gyroscope based on 0-1 linear programming

2020 ◽  
Vol 64 (1-4) ◽  
pp. 165-172
Author(s):  
Dongge Deng ◽  
Mingzhi Zhu ◽  
Qiang Shu ◽  
Baoxu Wang ◽  
Fei Yang
Keyword(s):  
Linear Programming ◽  
Power Consumption ◽  
Low Power ◽  
Optimization Design ◽  
Structural Parameters ◽  
Axial Position ◽  
Low Power Consumption ◽  
Optimal Method ◽  
Atomic Spin ◽  
Shim Coil

It is necessary to develop a high homogeneous, low power consumption, high frequency and small-size shim coil for high precision and low-cost atomic spin gyroscope (ASG). To provide the shim coil, a multi-objective optimization design method is proposed. All structural parameters including the wire diameter are optimized. In addition to the homogeneity, the size of optimized coil, especially the axial position and winding number, is restricted to develop the small-size shim coil with low power consumption. The 0-1 linear programming is adopted in the optimal model to conveniently describe winding distributions. The branch and bound algorithm is used to solve this model. Theoretical optimization results show that the homogeneity of the optimized shim coil is several orders of magnitudes better than the same-size solenoid. A simulation experiment is also conducted. Experimental results show that optimization results are verified, and power consumption of the optimized coil is about half of the solenoid when providing the same uniform magnetic field. This indicates that the proposed optimal method is feasible to develop shim coil for ASG.

Structural Optimization of the Telescopic Boom of a Certain Type of Truck-Mounted Crane

2014 ◽  
Vol 548-549 ◽  
pp. 383-388
Author(s):  
Zhi Wei Chen ◽  
Zhe Cui ◽  
Yi Jin Fu ◽  
Wen Ping Cui ◽  
Li Juan Dong ◽  
...  
Keyword(s):  
Finite Element ◽  
Static Analysis ◽  
Cross Sections ◽  
Optimization Design ◽  
Structural Parameters ◽  
Vertical Direction ◽  
Element Model ◽  
Shape Parameters ◽  
Conventional Design ◽  
Design Variables

Parametric finite element model for a commonly used telescopic boom structure of a certain type of truck-mounted crane has been established. Static analysis of the conventional design configuration was performed first. And then an optimization process has been carried out to minimize the total weight of the telescopic structures. The design variables include the geometric shape parameters of the cross-sections and the integrated structural parameters of the telescopic boom. The constraints include the maximum allowable equivalent stresses and the flexure displacements at the tip of the assembled boom structure in both the vertical direction and the circumferential direction of the rotating plane. Compared with the conventional design, the optimization design has achieved a significant weight reduction of up to 24.3%.

The Parallel Mechanism and Variable Acceleration Control Method

2013 ◽  
Vol 579-580 ◽  
pp. 659-664
Author(s):  
Xiang Bo Ouyang ◽  
Ke Tian Li ◽  
Hong Jian Xia ◽  
Su Juan Wang ◽  
Huan Wei Zhou ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Control Method ◽  
The Other ◽  
Connecting Rod ◽  
Motion Platform ◽  
The Third ◽  
Symmetric Structure ◽  
Slide Block ◽  
Operation Process ◽  
Moving Platform

t presents the parallel mechanism and variable acceleration control method, which is composed of slider, connecting rod, moving platform and linear guide etc. The motion platform is supported by three connecting rods through hinging, the other end of the connecting rods are respectively hinged with two sliders. Among them two pairs of connecting rod, two sliders and the moving platform formed a symmetric structure that is the so called Parallel Mechanism. The third connecting rod is parallel to one of two connecting rods, so that the two parallel connecting rods, slide block and the moving platform formed a parallelogram structure, it makes that the moving platform is always parallel to liner guiderail in the process of movement. By controlling the two sliders moving in the way of variable acceleration, it can make the trajectory curve, speed curve and acceleration curve of the moving platform are continuous, smooth, so impact and vibration of the moving platform is limited in the operation process.

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