Optimization of the support structure of large axial-radial bearing of overhead type manipulator

Jerman, Boris; Hladnik, Jurij; Resman, Franc; Landschützer, Christian

doi:10.5937/fmet1803386j

Cited by 2 publications

(3 citation statements)

References 6 publications

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“…Nowadays, meta-heuristic algorithms are widely used to optimize high-complexity problems in various sciences and engineering fields [36][37][38][39]. Hereby, thanks to its simplicity, the particle swarm optimization (PSO) algorithm [40] is adopted to extract the optimal parameters of the proposed controller, thanks to its simplicity [41].…”

Section: Pso Algorithmmentioning

confidence: 99%

Design of Fractional-Order PID controller for trajectory tracking control of continuum robots

Belkhiri¹,

Amouri²,

Cherfia³

2023

FME Transactions

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Continuum robots are the behavioral extension of hyper-redundant robots usually inspired by living biological organs. These robots outperform their rigid counterparts regarding high flexibility, dexterity, and most importantly safe interaction. On the flip side, they are kinematically redundant, highly nonlinear, and multi-input, and consequently, their controlling remains a complex and challenging task. To this end, this paper proposes a Fractional-Order Proportional-Integral-Derivative (FOPID) controller to control the continuum robot's end-tip. The proposed controller is designed to control the inputs of a class of continuum robots, namely the Cable-Driven Continuum Robot (CDCR). To design the controller satisfactorily, the Particle Swarm Optimization (PSO) algorithm extracts the optimal values of the controller's parameters. The proposed FOPID controller's efficiency and control performance are demonstrated through two simulation examples: set-point tracking and point-to-point trajectory tracking. In addition, the obtained simulation results are compared to those provided by classical and Optimized PID controllers and to some available schemes. Given the obtained results, it is clear that the performances of the proposed FOPID controller are superior in tracking accuracy and smoothness in control signals.

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Section: Pso Algorithmmentioning

confidence: 99%

Design of Fractional-Order PID controller for trajectory tracking control of continuum robots

Belkhiri¹,

Amouri²,

Cherfia³

2023

FME Transactions

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“…Another direction of research leads to the analysis of influences of the undercarriage frame on the slewing bearing operation. Many researchers have found the stiffness of the supporting structure to be a crucial constructional problem of large slewing mechanisms ( [9] and [10]). The supporting structure and the bolted connections cannot be ignored when the load distribution and carrying capacity of a slewing bearing are analysed.…”

Section: • the Dependence Between The Ratio Of Moments Of Inertia Formentioning

confidence: 99%

“…The upper traverse in its middle part has a bushing with a thread, and the presser with a small pitch thread passes through it. By turning the presser (4), via the pad (10), the end of the undercarriage frame (9) at point C is lowered by a given value of clearance ∆.…”

Section: Test Standmentioning

confidence: 99%

Analysis of the Influence Parameters on the Support Structure Stiffness of Large Radial-Axial Bearings

Trifković¹,

Zdravković²,

Gašić³

et al. 2019

SV-JME

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In certain types of crane and earth-moving machinery, such as portal cranes, loaders and excavators, the transfer of loads to crane tracks or the terrain is accomplished by means of undercarriage frames composed of box-like girders. The hypothesis that all four supports of the undercarriage frame do not lie in the horizontal plane is the basis for the formation of a calculation model. This paper analyses the influence of geometric parameters of box-like girders on the magnitude of additional forces at the supports of those frames when one of the supports is raised or lowered relative to the horizontal plane for the size Δ. Theoretical dependences between moments of inertia and stiffness under bending and torsion of those girders were thus established. Obtained relations leads to more concise forms of expressions for influential coefficients in Maxwell-Mohr integrals and simplifies optimization methods in the design of support structures. With experimental verification of the results, the influences of geometric parameters on the stiffness of the support structure are confirmed, and preconditions are created for further analysis of the connection made by large diameter bearings.

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Optimization of the support structure of large axial-radial bearing of overhead type manipulator

Cited by 2 publications

References 6 publications

Design of Fractional-Order PID controller for trajectory tracking control of continuum robots

Design of Fractional-Order PID controller for trajectory tracking control of continuum robots

Analysis of the Influence Parameters on the Support Structure Stiffness of Large Radial-Axial Bearings

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