Integrated structure/control design of high-speed flexible robot arms using topology optimization

Alkalla, Mohamed G.; Fanni, Mohamed

doi:10.1080/15397734.2019.1688170

Cited by 14 publications

(7 citation statements)

References 28 publications

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“…subject to closed kinematic chain conditions (15), closed loop dynamics of the mechatronic system ( 17)-( 23), dimensional synthesis ( 26)-( 28), Grashof's criterion (30), geometric limits (31), variable limits (32) and maximum torque provided by the motor (33).…”

Section: Optimization Problemmentioning

confidence: 99%

“…Then fourth-order partial differential equations (PDE), resulting from considering the potential energy of an Euler-Bernoulli or Timoshenko beam according to the design case, are solved by using finite differences, thus avoiding truncated models resulting in more accurate results and free of other effects such as spillover. Then, a structure-control design approach [31] is used to minimize three objective functions: i) the total control torque supplied to the system during execution of a high-speed task, ii) the trajectory tracking error at the end effector, iii) vibrational effects on underactuated links. The design process includes the whole system considering static, kinematic and, dynamic constraints, initial and boundary conditions, and gravitational and frictional effects.…”

Section: Introductionmentioning

confidence: 99%

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Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

et al. 2021

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In this paper, the concurrent optimal design of a planar five-bar parallel robot for a highspeed pick and place task is considered. A trade-off between trajectory tracking, energy consumption and deformation of the flexible links is sought. Due to the high-speed operation, the minimization of the vibratory effect is considered since the design stage. Thus, the design is stated as a non-linear multiobjective dynamic optimization problem that is solved through the Differential Evolution (DE) algorithm, as well as, feasibility rules for constraints handling. Mechanical structural variables that modify the inertial parameters of the rigid and flexible links, as well as, control variables related to gains of a PID controller are considered as independent variables. This problem is subject to maximum torque that each motor could provide; inherent constraints for link manufacture; dimensional synthesis; Grashof's criterion and initial and boundary conditions. Results show that it is possible, despite the vibrational phenomenon, to reduce the energy consumption without loss of precision through an appropriate mass balance of the actuated links.

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Section: Optimization Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

et al. 2021

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“…Their lowest percentage of catches among all positions was 83.33%. Mohamed G et al, 2 used the topology optimization technique to obtain an optimal robot arm design from both structure and control viewpoints. They used (MMA) method as an optimization algorithm with a time-optimal control method to gain a design that ensures a minimum traveling time.…”

Section: Review Of Previous Workmentioning

confidence: 99%

A suggested simple design and inverse kinematics for a multi-degrees-of-freedom robot arm

Pasha¹

2021

IRATJ

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In this paper, architecture for the robot arm and a mathematical model was suggested to simplify the inverse kinematics that describes the movement and orientation of this end-effector. Although this design contains eight degrees of freedom, all the angular displacements and velocities could be formulated as functions of the three coordinates of the end-effecter starting point. These three values are enough to set the end-effector at the desired point in the workspace, and with the desired orientation. The tip of the end-effecter could be equipped with a grabber or any attached manufacturing tool. To check the reliability of the introduced mathematical model, a simple model for the arm was built using aluminum beams. The joints are actuated by stepper motors that are controlled by a microprocessor. The model executed the positioning and orientation of the end-effector with an accuracy of about 93% of any traveled distance. This lack of accuracy may be accounted for by the low resolutions of the used motors. In this study, the positioning and orientation were only considered, and future work is required for the analysis of loads and power capacities

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“…RSL method introduces an alternate for the topology optimization of dynamic systems. Instead of establishing an optimization algorithm within the multibody dynamic simulation environment which is very complex, computationally difficult, and time-consuming, particularly, when calculating the gradient of objective and constraint functions (e.g., optimizing single link flexible robot arm investigated by Alkalla and Fanni 19 ), RSL introduces an easy and fast alternative way to accomplish that Shenoy and Fatemi 20 emphasized that "Combining the two analyses (i.e., multibody dynamics and FE stress analyses) into a single step requires immense computational power to develop FE models of the entire system, which may become available in the future with the rapidly increasing computing power." F I G U R E 2 Schematic diagram of hybrid cellular automata (HCA) followed by the revolutionary superposition layout (RSL) approach…”

Section: Notion: Revolutionary Superposition Layout (Rsl)mentioning

confidence: 99%

Revolutionary superposition layout method for topology optimization of nonconcurrent multiload models: Connecting‐rod case study

Alkalla

Helal

2020

Int J Numer Methods Eng

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This article proposes a new approach called revolutionary superposition layout (RSL) for obtaining optimum designs of nonconcurrent multiloads structures in general, and for connecting rod (CR) in particular. Since the compression and tension resulted from the combustion and exhaust strokes are nonconcurrent loads, the importance of this approach arises up. RSL depends on combining the optimum-design layouts obtained from different individual nonconcurrent load cases into one resultant design. This final design efficiently sustains all different loads applied to it. RSL presents a simple, less computational effort in the dynamic environment, and less time-consuming method. RSL has been compared with a multiload optimization method called bound formulation (BF) for obtaining the optimum design of some simple models before dealing with the CR model afterward. Two distinctive optimum topological designs of CR produced by RSL have proved their feasibility and achieved considerable improvements against both the conventional CR design being used nowadays in the automotive industry and the BF method designs, as well. A comparative study between them was accomplished based on both structural and modal analyses in ANSYS. As a result, the proposed RSL design shows a significant reduction of compliance, displacement/deflection and mass moment of inertia by 57.2%, 68.7%, and 5.9%, respectively, compared with conventional one.

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Integrated structure/control design of high-speed flexible robot arms using topology optimization

Cited by 14 publications

References 28 publications

Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

A suggested simple design and inverse kinematics for a multi-degrees-of-freedom robot arm

Revolutionary superposition layout method for topology optimization of nonconcurrent multiload models: Connecting‐rod case study

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