Design Optimization of Redundantly Actuated Cable-Driven Parallel Robots for Automated Warehouse System

Zhang, Fei; Shang, Weiwei; Zhang, Bin; Cong, Shuang

doi:10.1109/access.2020.2981546

Cited by 20 publications

(9 citation statements)

References 40 publications

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“…The travel time and operation cycle of robots in RMFS are investigated by Wang et al (2020a). Other types of robots for parts-topicker picking modes, such as cable-driven parallel robots (Zhang et al, 2020), rack-climbing robots (Azadeh et al, 2019b), and robot with transport and lifting capabilities (Zou et al, 2018a), are also powerful equipment in smart warehouses.…”

Section: Equipment Automationmentioning

confidence: 99%

A literature review of smart warehouse operations management

Zhen

2022

Front. Eng. Manag.

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E-commerce, new retail, and other changes have highlighted the requirement of high efficiency and accuracy in the logistics service. As an important section in logistics and supply chain management, warehouses need to respond positively to the increasing requirement. The “smart warehouse” system, which is equipped with emerging warehousing technologies, is increasingly attracting the attention of industry and technology giants as an efficient solution for the future of warehouse development. This study provides a holistic view of operations management problems within the context of smart warehouses. We provide a framework to review smart warehouse operations management based on the characteristics of smart warehouses, including the perspectives of information interconnection, equipment automation, process integration, and environmental sustainability. A comprehensive review of relevant literature is then carried out based on the framework with four perspectives. This study could provide future research directions on smart warehouses for academia and industry practitioners.

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Section: Equipment Automationmentioning

confidence: 99%

A literature review of smart warehouse operations management

Zhen

2022

Front. Eng. Manag.

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“…However, the weighted coefficient method has three shortcomings: first, the weight coefficients are determined according to the designer's subjective intention; second, the weight coefficients are difficult to quantify accurately; third, a single weight coefficient is difficult to represent all design intents due to the infinite selections of weight coefficients. In addition to the weighted coefficient method, there are some other multi-objective structural optimization methods for CDPMs, such as the enumeration method [55] and tabular method [56]. However, these methods are not objective, because the optimal criteria are determined by designers subjectively.…”

Section: Multi-objective Structural Optimizationmentioning

confidence: 99%

Dynamic Modeling, Workspace Analysis and Multi-Objective Structural Optimization of the Large-Span High-Speed Cable-Driven Parallel Camera Robot

Qiu

Liu

et al. 2022

Machines

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Since most of the cable-driven parallel manipulators (CDPMs) are small in dimension or low in speed, the self-weight or inertia of the cable is neglected when dealing with the problems of kinematics, dynamics and workspace. The cable is treated as a massless straight line, and the inertia of the cable is not discussed. However, the camera robot is a large-span high-speed CDPM. Thus, the self-weight and inertia of the cable cannot be negligible. The curved cable due to the self-weight is modeled as a catenary to accurately account for its sagging effect. Moreover, the dynamic model of the camera robot is derived by decomposing the motion of the cable into an in-plane motion and an out-plane motion, based on which an iterative-based tension distribution algorithm and a workspace generation algorithm are presented. An optimization model is presented to simultaneously improve the workspace volume, anti-wind disturbance ability and impulse of tensions on the camera and pan–tilt device system (CPTDS) by selecting the proper optimal variables under the linear and nonlinear constraints. An improved genetic algorithm (GA) is proposed, and the simulation results demonstrate that the improved GA offers a stronger ability in global optimization compared to the standard genetic algorithm (SGA). The ideal-point method is employed to avoid the subjective influence of the designer when performing the multi-objective optimization, and a remarkable improvement of the performance is obtained through the optimization. Furthermore, the distribution characteristics of the optimization objects are studied, and some valuable conclusions are summarized, which will provide some valuable references in designing large-span high-speed CDPMs.

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“…optimization design [18][19][20], and so on. The most remarkable characteristic of CBPRs is that it employs flexible cables instead of rigid links, while the main advantage of the robots is their high load-carrying capacity, which makes the robots suitable to be employed in pick-and-place task of the moving target gangues (MTGs).…”

Section: Introductionmentioning

confidence: 99%

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

et al. 2022

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A suspended cable−based parallel robot (CBPR) composed of four cables and an end−grab is employed in a pick−and−place operation of moving target gangues (MTGs) with different shapes, sizes, and masses. This paper focuses on two special problems of pick−and−place trajectory planning and trajectory tracking control of the cable−based gangue−sorting robot in the operation space. First, the kinematic and dynamic models for the cable−based gangue−sorting robots are presented in the presence of model uncertainties and unknown external disturbances. Second, to improve the sorting accuracy and efficiency of sorting system with cable−based gangue−sorting robot, a four-phase pick−and−place trajectory planning scheme based on S-shaped acceleration/deceleration algorithm and quintic polynomial trajectory planning method is proposed, and moreover, a robust adaptive fuzzy tracking control strategy is presented against inevitable uncertainties and unknown external disturbances for trajectory tracking control of the cable−based gangue−sorting robot, where the stability of a closed-loop control scheme is proved with Lyapunov stability theory. Finally, the performances of pick−and−place trajectory planning scheme and robust adaptive tracking control strategy are evaluated through different numerical simulations within Matlab software. The simulation results show smoothness and continuity of pick−and−place trajectory for the end−grab as well as the effectiveness and efficiency to guarantee a stable and accurate pick−and−place trajectory tracking process even in the presence of various uncertainties and external disturbances. The pick−and−place trajectory generation scheme and robust adaptive tracking control strategy proposed in this paper lay the foundation for accurate sorting of MTGs with the robot.

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Design Optimization of Redundantly Actuated Cable-Driven Parallel Robots for Automated Warehouse System

Cited by 20 publications

References 40 publications

A literature review of smart warehouse operations management

A literature review of smart warehouse operations management

Dynamic Modeling, Workspace Analysis and Multi-Objective Structural Optimization of the Large-Span High-Speed Cable-Driven Parallel Camera Robot

Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

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