Kinematic/kinetic performance analysis and synthesis measures of multi-DOF mechanisms

Lee, Ming Yih; Erdman, Arthur G.; Gutman, Y.

doi:10.1016/0094-114x(93)90006-h

Cited by 10 publications

(6 citation statements)

References 10 publications

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“…III Deriving design optimization objective functions: Suitable kinematic design indices [11][12][13][14][15] shall be chosen as the optimization design objective functions. Since a pruning or harvesting manipulator works in a cluttered and unstructured environment, it is essential to consider kinematic manipulability indices.…”

Section: Design Proceduresmentioning

confidence: 99%

“…Although some research has been carried out to develop and introduce proper mechanical design indices [11][12][13][14][15] and methods to globalize them [16] for manipulators, many engineers still design manipulators based on empirical estimations [17], which could lead to a robot's inappropriate operational performance. In order to meet the design needs for a robotic manipulator, proper design indices should be taken into account to be optimized in a single-objective or multi-objective optimization process.…”

Section: Introductionmentioning

confidence: 99%

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Kinematic-Based Multi-Objective Design Optimization of a Grapevine Pruning Robotic Manipulator

Molaei

Ghatrehsamani

2022

AgriEngineering

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Annual cane pruning of grape vineyards is a time-consuming and labor-intensive job, but no mechanized or automatic way has been developed to do it yet. Robotic pruning can be a perfect alternative to human labor. This article proposes a systematic seven-stage procedure to design a kinematically optimized manipulator, named ‘Prubot’, to manage vineyards’ cane pruning. The manipulator structure was chosen, resulting in a 7R (Revolute) manipulator with a spherical shoulder and wrist. To obtain the design constraints, the manipulator task space was modeled. The robot’s second and third link lengths were determined by optimizing the global translational version of the measure of manipulability and the measure of isotropy of the manipulator arm section. Finally, simulations confirmed the appropriateness of the manipulator workspace. Furthermore, sampling-based path planning simulations were carried out to evaluate the manipulator’s kinematic performance. Results illustrated the impressive kinematic performance of the robot in terms of path planning success rate (≅100%). The simulations also suggest that among the eight single-query sampling-based path planning algorithms used in the simulations, Lazy RRT and KPIECE are the best (≤5 s & ~100%) and worst (≥5 s & ~25%) path planning algorithms for such a robot in terms of computation time and success rate, respectively. The procedure proposed in this paper offers a foundation for the kinematic and task-based design of a cane pruning manipulator. It could be promisingly used for designing similar agricultural manipulators.

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Section: Design Proceduresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematic-Based Multi-Objective Design Optimization of a Grapevine Pruning Robotic Manipulator

Molaei

Ghatrehsamani

2022

AgriEngineering

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“…The cross-coupling between joint motions can be interpreted as the degree of orthogonality between column vectors of the Jacobian matrix [60]. A quantitative measure of kinematic cross-coupling between two sub-chains is defined as [61] sin…”

Section: Cross-coupling Measurementioning

confidence: 99%

Root Based Optimization Algorithm for Task-Oriented Structural Design of a Multi-Axial Road Test Rig

et al. 2020

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A novel root based optimization algorithm (ROA), which mimics the proliferation of plant roots, is proposed to evaluate the performances of a multi-axial road test rig over a prescribed workspace. Plant roots have developed complex behavior patterns to search for nutrients in the soil and even exhibit swarm intelligence. The growing roots can adapt their actions such as elongation, branching, and tropistic movement according to the environment. During the process of foraging for water and nutrients, the adaptive growth behavior of roots can be simulated to tackle the optimization problem. The efficiency of the proposed ROA has been validated by comparing it with well-known intelligent algorithms using classical and IEEE CEC 2019 benchmark functions. Computational results indicate that ROA outperforms other algorithms to search a global optimum on several benchmarks. Furthermore, the results are tested with nonparametric statistical methods, e.g., Wilcoxon rank-sum test. Besides, ROA is applied to the optimal dimensioning synthesis of the multi-axial road test rig (MRTR) based on the orthogonal 6-RSS parallel manipulator to promote the device's performance. The inverse kinematics of the multi-axial road test rig based on the asymmetrical orthogonal 6-RSS parallel mechanism is analyzed in detail. Applying the achieved dimensionless Jacobian, the performance criteria involving the global isotropy index, the force/velocity transmissibility index, the decoupling index are established. By simultaneously taking account the proposed criteria of performance, structural optimization is carried out resorting to ROA. Finally, a set of optimized dimensional parameters is obtained. The practical application further illustrates that ROA has the potential to deal with complex optimization problems.

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“…In discussing this mobility most authors refer to the velocity ellipse, which could be considered as a graphical representation of the Jacobian matrix. Asada and Ro [5], and Lee et al [8] propose the use of a distribution map of these ellipses in the workspace of a manipulator to evaluate the motion performance as a whole. Howe et al [9] and Ou and Tsai [10] have conducted a similar exercise and have plotted the condition number, their aim being the identification of a portion of the workspace close to the isotropic point.…”

Section: Introductionmentioning

confidence: 99%

“…Yashikawa [6] has introduced the concept of manipulability, while Ghosal and Roth [7] propose quantities based on transmission efficiency defined in terms of areas and volumes. Lee et al [8], propose several measures to evaluate kinematic cross coupling, directional motion mobility, force manipulability and motion efficiency.…”

Section: Introductionmentioning

confidence: 99%

Motion properties of planar two-degree-of-freedom mechanisms

Umesh

Amarnath

2003

Mechanism and Machine Theory

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Kinematic/kinetic performance analysis and synthesis measures of multi-DOF mechanisms

Cited by 10 publications

References 10 publications

Kinematic-Based Multi-Objective Design Optimization of a Grapevine Pruning Robotic Manipulator

Kinematic-Based Multi-Objective Design Optimization of a Grapevine Pruning Robotic Manipulator

Root Based Optimization Algorithm for Task-Oriented Structural Design of a Multi-Axial Road Test Rig

Motion properties of planar two-degree-of-freedom mechanisms

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