Multi-objective optimization of a redundantly actuated parallel robot mechanism for special machining

Zhang, Haiqiang; Tang, Jianglong; Gao, Qian; Cui, Guohua; Shi, Kan; Yao, Yan‐an

doi:10.5194/ms-13-123-2022

Cited by 8 publications

(4 citation statements)

References 25 publications

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“…Based on the dynamic simulation model combined with the specific structure of the device and methods from related articles [24][25][26][27], the length and position of the hinge pin, the position of the support wheel holder, and the length of the pushrod were determined as optimization objects; variables were created and their variation ranges were determined based on the 3D model, as shown in Table 5. The variables are parametrically modeled in Adams/View according to the variation of each variable so that the model can be modified quickly and the optimization can be carried out smoothly.…”

Section: Constraintmentioning

confidence: 99%

Design and Test of Automatic Feeding Device for Substrate Filling

Pan,

Xu,

Bao

et al. 2024

Applied Sciences

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An automatic feeding device for substrate filling was designed to address the challenges of difficult feeding and low efficiency in the citrus seedling pot filling and transferring machine. The device comprises a framework, tracks, overturning frame, drive system, etc. In order to ensure optimal performance, the frame’s turning angle was set at a minimum of 110° and the angle between the frame’s horizontal plane and slope was determined to be 120°. Following optimization, the number and intensity of sudden changes in velocity, angular velocity, and thrust were reduced, thereby prolonging the device’s service life. The prototype test demonstrated that the device has an average feeding time of 9.86 s, is capable of raising 0.14 m3 of substrate in a single cycle, and has a handcart turning angle of 111°. Furthermore, no residual substrate remained in the handcart, and the handcart fixing mechanism operated correctly. The torque measurement results of the motor output shaft were found to be consistent with the simulation results in ADAMS, with a maximum force difference of only 298 N. The simulation was found to be accurate, with an error rate of only 3.67%. This model can be utilized as a dependable reference for the optimization of the design of the automatic feeding device.

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Section: Constraintmentioning

confidence: 99%

Design and Test of Automatic Feeding Device for Substrate Filling

Pan,

Xu,

Bao

et al. 2024

Applied Sciences

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“…The corresponding optimization objective function values are named the Pareto front. Many numerical algorithms for solving MOPs have been developed, such as the immune algorithm (Chen et al, 2019), particle swarm optimization (Peng et al, 2019;Zhang et al, 2022) and the genetic algorithm (Du et al, 2016). These algorithms are mainly based on bionics.…”

Section: Introductionmentioning

confidence: 99%

Application of cell mapping to control optimization for an antenna servo system on a disturbed carrier

Tian,

Cheng

2023

Mech. Sci.

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Abstract. The cell-mapping method, due to its global optimality, has been applied to solve multi-objective optimization problems (MOPs) and optimal control problems. However, the curse of dimensionality limits its application in high-dimensional systems. In this paper, the multi-parameter sensitivity analysis is investigated to reduce the parameter space dimension, which broadens the application of cell mapping to MOPs in high-dimensional parameter space. A post-processing algorithm for MOPs is introduced to help choose proper control parameters from the Pareto set. The proposed scheme is applied successfully in the control parameter optimization of an adaptive nonsingular terminal sliding-mode control for an antenna servo system on a disturbed carrier. Moreover, as the existing global optimal tracking control with an adjoining cell-mapping method may generate tracking-phase differences, an optimal-sliding-mode combined-control strategy is proposed. By using the combined-control strategy, the azimuth and pitch angles of the antenna system are controlled to catch up to a target trajectory with the minimum cost function and to keep high-precision tracking after that.

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“…Qi et al [23] conducted a multi-objective optimization of a typical parallel tracking mechanism under comprehensive consideration of the kinematics, stiffness, workspace, and dynamic performances, while considering manufacturing and assembly errors. Zhang et al [24] used the PSO algorithm to perform multi-objective optimization of the workspace, dexterity, stiffness, energy efficiency, motion/force transfer efficiency, and inertial coupling index of the established 2RPU-2SPR super-constrained redundantly driven parallel mechanism. Mirshekari et al [25] studied the effects of different parameters, such as the rotation joint angle and spherical joint position of the 6-RUS parallel robot mobile platform on the workspace, kinematics and dynamics indices, and they used the bees algorithm approach to optimize the manipulator structure.…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Optimization Design of 6-UPS Parallel Mechanism Based on Taguchi Method and Entropy-Weighted Gray Relational Analysis

et al. 2022

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Nowadays, parallel mechanisms are widely used in many fields because of their excellent structural performance. In order to improve the comprehensive performance of 6-UPS parallel mechanism, this article proposes a multi-objective optimization design method for parallel mechanism based on the Taguchi method and entropy-weighted gray relational analysis (EGRA) method. By establishing a parametric model of the 6-UPS parallel mechanism, taking the peak force on the drive pair of the drive branch chain of the mechanism, the minimum value of the projection angle of the body-fixed coordinate system (BCS) relative to the inertial coordinate system (ICS), and the minimum value of the average projected angle of the BCS relative to the ICS as the objective functions, the relationship between the design variables and the objective function is investigated under the condition that the constraints are satisfied. Using the optimization method proposed in this article, the multi-objective optimization problem is transformed into a single-objective optimization problem based on gray relational grade (GRG). Compared with the non-optimized 6-UPS parallel mechanism, the simulation results show that the peak force on the drive pair of the drive branch chain is reduced by 17.73%, and the minimum value of the projected angle and the minimum value of the average projected angle of the BCS relative to the ICS are increased by 27.36% and 36.17%, respectively, which effectively improves the load-bearing capacity and motion range of the 6-UPS parallel mechanism and verifies the reliability of the optimized design method.

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Multi-objective optimization of a redundantly actuated parallel robot mechanism for special machining

Cited by 8 publications

References 25 publications

Design and Test of Automatic Feeding Device for Substrate Filling

Design and Test of Automatic Feeding Device for Substrate Filling

Application of cell mapping to control optimization for an antenna servo system on a disturbed carrier

Multi-Objective Optimization Design of 6-UPS Parallel Mechanism Based on Taguchi Method and Entropy-Weighted Gray Relational Analysis

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