scholarly journals Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

2020 ◽  
Vol 7 (1) ◽  
pp. 113
Author(s):  
Carlos Llopis-Albert ◽  
Francisco Valero ◽  
Vicente Mata ◽  
Rafael J. Escarabajal ◽  
Pau Zamora-Ortiz ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Parallel Robot ◽  
Generalized Coordinates ◽  
Subsequent Test ◽  
Parallel Kinematic Manipulator ◽  
Optimal Reconfiguration ◽  
Gradient Based ◽  
Parallel Kinematic ◽  
The Cost

<p>The positioning of the anchoring points of a Parallel Kinematic Manipulator has an important impact on its later performance. This paper presents an optimization problem to deal with the reconfiguration of a Parallel Kinematic manipulator with four degrees of freedom and the corresponding algorithms to address such problem, with the subsequent test on an actual robot. The cost function minimizes the forces applied by the actuators along the trajectory and considers singular positions and the feasibility of the active generalized coordinates. Results are compared among different algorithms, including evolutionary, heuristics, multi-strategy and gradient-based optimizers.</p>

scholarly journals Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

2020 ◽  
Vol 12 (14) ◽  
pp. 5803 ◽  
Author(s):  
Carlos Llopis-Albert ◽  
Francisco Valero ◽  
Vicente Mata ◽  
José L. Pulloquinga ◽  
Pau Zamora-Ortiz ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Local Minimum ◽  
Optimization Problem ◽  
Optimization Methods ◽  
Parallel Robot ◽  
Generalized Coordinates ◽  
Design Variables ◽  
Optimal Reconfiguration ◽  
Gradient Based ◽  
Parallel Kinematic

This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.

Dynamic Optimization of a Three Translational Degrees of Freedom Parallel Robot Based on a Multi-Objective Genetic Algorithm

2015 ◽  
Vol 789-790 ◽  
pp. 723-734
Author(s):  
Xing Guo Lu ◽  
Ming Liu ◽  
Min Xiu Kong
Keyword(s):  
Genetic Algorithm ◽  
Dynamic Optimization ◽  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Parallel Robot ◽  
Nsga Ii ◽  
Multi Objective ◽  
Global Dynamic ◽  
Design Variables ◽  
Dynamic Fluctuation

This work tends to deal with the multi-objective dynamic optimization problem of a three translational degrees of freedom parallel robot. Two global dynamic indices are proposed as the objective functions for the dynamic optimization: the index of dynamic dexterity, the index describing the dynamic fluctuation effects. The length of the linkages and the circumradius of the platforms were chosen as the design variables. A multi-objective optimal design problem, including constrains on the actuating and passive joint angle limits and geometrical interference is then formulated to find the Pareto solutions for the robot in a desired workspace. The Non-dominated Sorting Genetic Algorithm (NSGA-II) is adopted to solve the constrained nonlinear multi-objective optimization problem. The simulation results obtained shows that the robot can achieve better dynamic dexterity and less dynamic fluctuation simultaneously after the optimization.

A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Oleksandr Stepanenko ◽  
Ilian A. Bonev ◽  
Dimiter Zlatanov
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Parallel Robot ◽  
Parallel Kinematic Machine ◽  
Constant Length ◽  
End Effector ◽  
Kinematic Models ◽  
Parallel Kinematic ◽  
Linear Actuators ◽  
Five Axis

We present a novel 4-DOF (degrees of freedom) parallel robot designed for five-axis micromachining applications. Two of its five telescoping legs operate simultaneously, thus acting as an extensible parallelogram linkage, and in conjunction with two other legs control the position of the tooltip. The fifth leg controls the tilt of the end-effector (a spindle), while a turntable fixed at the base of the robot controls the swivel of the workpiece. The robot is capable of tilting its end-effector up to 90 deg, for any tooltip position. In this paper, we study the mobility of the new parallel kinematic machine (PKM), describe its inverse and direct kinematic models, then study its singularities, and analyze its workspace. Finally, we propose a potential mechanical design for this PKM utilizing telescopic actuators as well as the procedure for optimizing it. In addition, we discuss the possibility of using constant-length legs and base-mounted linear actuators in order to increase the volume of the workspace.

Multivariable Extremum Seeking for Joint-Space Trajectory Optimization of a High-Degrees-of-Freedom Robot

2018 ◽  
Vol 140 (11) ◽  
Author(s):  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Trajectory Optimization ◽  
Degrees Of Freedom ◽  
Research Effort ◽  
Minimum Energy ◽  
Joint Space ◽  
Design Sensitivity ◽  
Extremum Seeking ◽  
Minimum Energy Consumption ◽  
Gradient Based ◽  
The Cost

In this paper, a novel analytical coupled trajectory optimization of a seven degrees-of-freedom (7DOF) Baxter manipulator utilizing extremum seeking (ES) approach is presented. The robotic manipulators are used in network-based industrial units, and even homes, by expending a significant lumped amount of energy, and therefore, optimal trajectories need to be generated to address efficiency issues. These robots are typically operated for thousands of cycles resulting in a considerable cost of operation. First, coupled dynamic equations are derived using the Lagrangian method and experimentally validated to examine the accuracy of the model. Then, global design sensitivity analysis is performed to investigate the effects of changes of optimization variables on the cost function leading to select the most effective ones. We examine a discrete-time multivariable gradient-based ES scheme enforcing operational time and torque saturation constraints in order to minimize the lumped amount of energy consumed in a path given; therefore, time-energy optimization would not be the immediate focus of this research effort. The results are compared with those of a global heuristic genetic algorithm (GA) to discuss the locality/globality of optimal solutions. Finally, the optimal trajectory is experimentally implemented to be thoroughly compared with the inefficient one. The results reveal that the proposed scheme yields the minimum energy consumption in addition to overcoming the robot's jerky motion observed in an inefficient path.

APPLICATION OF A PARALLEL KINEMATIC MACHINE SYSTEM IN AUTOMATION OF LIGHT DEBURRING OPERATIONS

2005 ◽  
Vol 29 (2) ◽  
pp. 229-245
Author(s):  
Dan Zhang ◽  
Kefu Liu ◽  
Feng Ding ◽  
Franklin Wong
Keyword(s):  
Degrees Of Freedom ◽  
Control Architecture ◽  
Research Projects ◽  
Parallel Kinematic Machine ◽  
Ongoing Research ◽  
System A ◽  
Stiffness Model ◽  
Parallel Kinematic ◽  
Alloy Castings ◽  
The Cost

This paper presents the design of a 5-DOF (Degree of Freedom) tripod-based parallel kinematic machine (PKM) system for application in the magnesium alloy castings finishing industry. The proposed PKM can implement multitask in one setup, so as to reduce the cost and time. The design starts from the industrial requirements and process needs, then the most promising architecture and degrees of freedom are proposed. Kinematic analysis is conducted on the proposed tripod system. Stiffness model of the tripod is established. Using the stiffness model, the genetic algorithms are applied to optimize the structure to maximize the overall stiffness of the system. Some ongoing research projects are introduced. In the case of dynamic analysis, a methodology is presented. In the case of control of the tripod system, a conceptual control architecture is proposed.

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

An Adaptive EFG-FE Computational Model for Thermal Elasto-Plastic Frictional Contact Problems

2008 ◽  
Vol 33-37 ◽  
pp. 821-826
Author(s):  
Zheng Zhang ◽  
Geng Liu ◽  
Tian Xiang Liu
Keyword(s):  
Frictional Heating ◽  
Contact Problems ◽  
Coupling Model ◽  
Adaptive Refinement ◽  
Frictional Heat ◽  
Plastic Behavior ◽  
Initial Stiffness ◽  
Gradient Based ◽  
Local Adaptive Refinement ◽  
The Cost

An adaptive meshless element-free Galerkin-finite element (EFG-FE) coupling model for thermal elasto-plastic contact problems is developed to investigate the influences of the steady-state frictional heating on the contact performance of two contacting bodies. The thermal elasto-plastic contact problems using the initial stiffness method is presented. The local adaptive refinement strategy and the strain energy gradient-based error estimation for EFG-FE coupling method are combined. The adaptive meshless model takes into account the temperature variation, micro plastic flow, and the coupled thermo-elasto-plastic behavior of the materials, considering the strain-hardening property of the materials and temperature-dependent yield strength. The adaptive model is verified through the contact analysis of a cylinder with an elasto-plastic plane. The thermal effects on the contact pressure, stresses distributions with certain frictional heat inputs are studied. The results show that the accuracy of the solutions from the adaptive refinement model is satisfactory but the cost of the CPU time is much less than that for the uniform refinement calculation.

Sign in / Sign up

Export Citation Format

Share Document