A new neural gas network approach for obtaining the singularity-free workspace of 3-DOF planar parallel manipulators

Novin, Roya Sabbagh; Masouleh, Mehdi Tale; Yazdani, Mehdi

doi:10.1177/0954406216672686

Cited by 4 publications

(1 citation statement)

References 37 publications

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“…60 studied the workspace and dimensional optimization of the planar parallel manipulators. Various authors 61–65 also studied the workspace problems of different parallel mechanisms. Most of the above studies have focused on the impact of structural parameters on the size of the workspace, but ignored the identification of the irregular workspace boundaries.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Yao

Han

Dou³

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Parallel mechanism has been widely used in large-scale and heavy-duty attitude adjustment equipment. In order to improve the work reliability of the subreflector parallel adjusting mechanism, a fault-tolerant strategy based on the redundant degree-of-freedom and a workspace boundary identification method are proposed in this paper, which can realize the proper function of the subreflector parallel adjusting mechanism when it has a driven fault. The configuration and parameters of the parallel adjusting mechanism are introduced firstly, then the degrees-of-freedom of the parallel adjusting mechanism is calculated when it has a driven fault, and the principle of the fault-tolerant strategy based on the redundant degree-of-freedom is deduced in detail. Next, the method to solve the workspace boundary identification problem for the parallel adjusting mechanism in fault tolerance conditions is proposed, the maximum and minimum workspaces of the parallel adjusting mechanism at fault tolerance conditions in different frequency bands are analyzed. The results showed that the workspace calculated by the fault-tolerant strategy in the fault condition can completely meet the needs of the subreflector, where this method can also be applied to other parallel mechanisms. Lastly, an experiment is conducted to verify the correctness and effectiveness of the fault-tolerant strategy, in which the results showed that the fault-tolerant strategy can effectively improve the work reliability of the parallel adjusting mechanism. The fault-tolerant strategy and workspace boundary identification method can make the subreflector parallel adjusting mechanism work normally when it has a driven fault, which can significantly improve the work reliability and work efficiency and the maintenance cost can also be reduced. The fault-tolerant strategy and workspace boundary identification method can also be well applied to the research and development for this kind of parallel mechanical equipment.

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Section: Introductionmentioning

confidence: 99%

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Yao

Han

Dou³

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Sun

Shuai

et al. 2022

Robotica

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The paper deals with the workspace-based optimization of a novel humanoid robotic arm. The eight-degree-of-freedom hybrid manipulator that conforms to the kinematics characteristics of the human arm is briefly introduced. According to the structural features of this mechanism and the requirements of tasks in the complex environment, the workspace is divided into three parts, the orientation space of the humanoid shoulder joint, the position space of the humanoid elbow joint, and the active orientation space of the end-moving platform. Moreover, a multi-parameter planar model is proposed for the optimization problem with multidimensional parameters and highly nonlinear constraints. Based on the visualized optimization result, the coupling effect of each parameter on the corresponding workspace is clearly presented. Considering the compactness and the processing and assembling technology of this mechanism, a set of structural parameters satisfying the workspace-based optimization objective is obtained. Simulation results show that the corresponding workspace of the three parts has increased significantly by the factor of 1.45, 1.68, and 1.3, respectively.

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Sustainable clustering of customers using capacitive artificial neural networks: a case study in Pegah Distribution Company

Yousefi¹,

Shabanpour

Saen

2021

RAIRO-Oper. Res.

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To survive, organizations should inevitably work based on sustainability principles in an ever-increasing changes of markets. Appropriate flexibility and responsiveness are particularly important when considering sustainability issue and market changes in clustering problem. One of the uses of clustering can be allocation of resources and equipment for providing the highest level of customer service which has been a matter of concern for decision makers in distributive companies. Capacitive clustering is a common method for solving allocation and distribution problems. However, traditional clustering models ignore sustainability criteria in defining clusters' capacity. The objective of this study, therefore, is to propose a novel method for optimizing resource allocation for customers given the sustainability criteria. Capacitive clustering is a technique that has a widespread application in data mining. This approach has been used for equipment distribution, sales targeting, market segmentation, etc. One prevalent clustering method is growing neural gas network (GNGN) technique. GNGN is a neural network with uncontrolled learning. In this paper, for the first time, we utilize GNGN to cluster customers given sustainability criteria. Here, the clusters' centers are determined and allocated with regard to capacity constraints of the clusters. The obtained results, in general, can be regarded as an optimized sustainable distribution system in which the number of trucks, distribution routes as well as fuel consumptions and environmental pollutions are minimized. We can also refer to reductions in urban traffic, maintenance costs, staff costs, and decreases in the fatigue of drivers and distributers due to the proximity of supermarkets. An illustrative case study is done to indicate the applicability and remarkable contributions of the suggested clustering approach.

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A new neural gas network approach for obtaining the singularity-free workspace of 3-DOF planar parallel manipulators

Cited by 4 publications

References 37 publications

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Sustainable clustering of customers using capacitive artificial neural networks: a case study in Pegah Distribution Company

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