Dynamic analysis with optimum trajectory planning of multiple degree-of-freedom surgical micro-robot

Mohamed, Khaled T.; Elgamal, Hassan; Elsharkawy, Amr

doi:10.1016/j.aej.2018.10.011

Cited by 15 publications

(6 citation statements)

References 6 publications

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“…To determine whether the space deployable mechanism can be stably and reliably deployed and whether the dynamic characteristics of the entire moving process can meet the optimal design requirements, it is necessary to conduct dynamic modeling of the deployment mechanism of the solar array to master the dynamic characteristics, such as the speed, acceleration, deployment time, and geometric configuration of the solar array deployment [23,24].…”

Section: Dynamics Modeling Of a Large-scale Spatial Solar Array Based...mentioning

confidence: 99%

Design and Analysis of Active Speed-Limit Mechanism for Large-Scale Spatial Solar Array

Yang

Shao

et al. 2023

Coatings

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The multidimensional deployment of large-scale spatial solar arrays has been the basis for high-power advanced spacecraft and a symbol of the leaps forward in aerospace technology. Activated and passive drives have often been used in combination to implement the driving mechanism of large-scale solar arrays, which can reduce the impact of the deployment and locking process. For the first time, a novel active speed-limit mechanism was introduced into the two-dimensional secondary deployable drive system of a large-scale spatial solar array, achieving a balance between large deployable driving torque and small locking impact load. A highly integrated and lightweight drive system has been designed, integrating motor drive, gear drive, and adaptive torque limiting device to achieve adaptive control of the deployment torque of the solar array. A dynamic simulation system for the entire process of a large-scale spatial solar array based on the Kane method and ADAMS model has been established. A two-dimensional secondary deployable motion control law for a large-scale solar array using an active speed-limit mechanism has been established, and the dynamic characteristic parameters of the active speed-limit driving mechanism have been determined, such as driving torque, driving mode, and driving speed. The results can be used to guide the design of the deployable driving mechanism for large-scale spatial solar arrays.

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Section: Dynamics Modeling Of a Large-scale Spatial Solar Array Based...mentioning

confidence: 99%

Design and Analysis of Active Speed-Limit Mechanism for Large-Scale Spatial Solar Array

Yang

Shao

et al. 2023

Coatings

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“…Optimization was completed GA, hybrid GA, pattern search (PS), and particle swarm optimization (PSO) methods. All the optimization techniques performed almost the same besides hybrid GA, which was slightly better by 3%, Mohamed, Elgamal and Elshar [16].Attempts have also been made to design a robotic manipulator with 5-axis for application under CT guidance . Trajectory and path were generated for the same, Shubham and Mishra [17], Shah, Mishra and Mohapatro [18].…”

Section: Introductionmentioning

confidence: 96%

Modelling and Optimization of Robotic Manipulator Mechanism for Computed Tomography Guided Medical Procedure

Shah

Mishra

2021

Scientia Iranica

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Although industrial robots are comman, higher degree of manipulability might be required to expand the applications of manipulators in the field of medicine. Modifying the mechanical design of a robot as per the workspace can be perceived as an optimization problem. Hence, a novel spatial manipulator is designed for a diagnostic apparatus using different optimization algorithms. Standard Genetic Algorithm and Genetic Algorithm(GA) with hybrid functions like pattern search(PS) and fmincon is proposed to optimize the link lengths of a 3 degrees of freedom (DOF), 6-DOF, and novel 9-DOF hybrid redundant manipulator. A 9-DOF robot is designed to manipulate a needle in CTmachine environment. The fitness function for all the manipulators is formulated using forward kinematic equations according to their workspace. Limits and constraints of each link is decided beforehand. A comparative study between all the hybrid GA functions is performed. MATLAB is used to solve and train the proposed GA method for opmtimizing the link lengths. Results show that the GA with PS provide better-optimized link lengths for a 3-DOF and 9-DOF manipulator while fmincon is well suited for a 6-DOF robot manipulator. Workspace and dead zone analysis is also performed using the optimized link lengths obtained.

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“…Robot manipulators are widely applied to many practical aspects and play a very important role [1][2][3][4]. Because of the large nonlinearity, modeling inaccuracy, coupling between joints, and parameter uncertainties in robot dynamics, the robot manipulators' control strategies have always been a hot and valuable research topic.…”

Section: Introductionmentioning

confidence: 99%

Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulators

Zhang

Fang

Song

et al. 2023

Asian Journal of Control

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A fast convergent non-singular terminal sliding mode adaptive control law based on prescribed performance is formulated to solve the uncertainties and external disturbances of robot manipulators. First, the tracking error of robot manipulators is transformed by using the prescribed performance function, which improves the transient behaviors and steady-state accuracy of robot manipulators. Then, a novel fast convergent non-singular terminal sliding mode surface is brought up according to the transformed error, and the control law is derived to meet the stability requirements of robot manipulators. In practice, the upper boundary of the lumped disturbances cannot be accurately obtained. Therefore, an adaptive prescribed performance control (PPC) controller to lumped disturbances is brought up to ensure the stability and finite-time convergence of robot manipulators. Finally, the system stability of robot manipulators is proved by the Lyapunov theorem. Simulation results and comparative analysis demonstrate the superiority and robustness of the raised strategy.

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Dynamic analysis with optimum trajectory planning of multiple degree-of-freedom surgical micro-robot

Cited by 15 publications

References 6 publications

Design and Analysis of Active Speed-Limit Mechanism for Large-Scale Spatial Solar Array

Design and Analysis of Active Speed-Limit Mechanism for Large-Scale Spatial Solar Array

Modelling and Optimization of Robotic Manipulator Mechanism for Computed Tomography Guided Medical Procedure

Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulators

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