Integrated Mechatronic Design in the Flexure-Linked Dual-Drive Gantry by Constrained Linear–Quadratic Optimization

Ma, Jun; Chen, Chin-Yin; Kamaldin, Nazir; Teo, Chek Sing; Tay, Arthur; Mamun, Abdullah Al; Tan, Kok Kiong

doi:10.1109/tie.2017.2740825

Cited by 63 publications

(14 citation statements)

References 25 publications

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“…35 Some special gripper designs for harvesting horticulture products such as tomato 39,40 and strawberry 41 are also proposed. Some control schemes such as constrained linear quadratic optimization method 42,43 and a feedforward controller based on both flexible and rigid body modes 44 can be used for vibration suppression and robust tracking of flexible systems. One possible disadvantage in the usage of soft compliant mechanisms than rigid mechanisms is that the mechanical advantage of a compliant member is usually lower than that of rigid mechanisms with the same dimensions.…”

Section: Introductionmentioning

confidence: 99%

Topology and Size–Shape Optimization of an Adaptive Compliant Gripper with High Mechanical Advantage for Grasping Irregular Objects

Liu¹,

Chiu²,

Hsu³

et al. 2019

Robotica

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SummaryThis study presents an optimal design procedure including topology optimization and size–shape optimization methods to maximize mechanical advantage (which is defined as the ratio of output force to input force) of the synthesized compliant mechanism. The formulation of the topology optimization method to design compliant mechanisms with multiple output ports is presented. The topology-optimized result is used as the initial design domain for subsequent size–shape optimization process. The proposed optimal design procedure is used to synthesize an adaptive compliant gripper with high mechanical advantage. The proposed gripper is a monolithic two-finger design and is prototyped using silicon rubber. Experimental studies including mechanical advantage test, object grasping test, and payload test are carried out to evaluate the design. The results show that the proposed adaptive complaint gripper assembly can effectively grasp irregular objects up to 2.7 kg.

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Section: Introductionmentioning

confidence: 99%

Topology and Size–Shape Optimization of an Adaptive Compliant Gripper with High Mechanical Advantage for Grasping Irregular Objects

Liu¹,

Chiu²,

Hsu³

et al. 2019

Robotica

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“…Hence, it is necessary to optimize the planned path considering the aforementioned problems. Since NMPC has a good ability to solve the problem of nonlinear optimization with complex multi-constraints, 38 it is used to optimize the path planned by visibility graph method in this article. The optimization process using NMPC consists of modeling, constraint analysis and NMPC algorithm design.…”

Section: Global Path Planningmentioning

confidence: 99%

Path planning of collision avoidance for unmanned ground vehicles: A nonlinear model predictive control approach

Hang

Huang

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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In addition to the safety of collision avoidance, the safety of lateral stability is another critical issue for unmanned ground vehicles in the high-speed condition. This article presents an integrated path planning algorithm for unmanned ground vehicles to address the aforementioned two issues. Since visibility graph method is a very practical and effective path planning algorithm, it is used to plan the global collision avoidance path, which can generate the shortest path across the static obstacles from the start point to the final point. To improve the quality of the planned path and avoid uncertain moving obstacles, nonlinear model predictive control is used to optimize the path and conduct second path planning with the consideration of lateral stability. Considering that the moving trajectories of moving obstacles are uncertain, multivariate Gaussian distribution and polynomial fitting are utilized to predict the moving trajectories of moving obstacles. In the collision avoidance algorithm design, a series of constraints are taken into consideration, including the minimum turning radius, safe distance, control constraint, tracking error, etc. Four simulation conditions are carried out to verify the feasibility and accuracy of the comprehensive collision avoidance algorithm. Simulation results indicate that the algorithm can deal with both static and dynamic collision avoidance, and lateral stability.

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“…On the other hand, soft, deformable robots have many advantages over rigid robots, including providing safer, more robust interactions and adaptive behaviors that use mechanical intelligence suitable for dealing with unknown objects in a complex environment [12]. Several control strategies, such as the use of a feedforward controller based on both rigid-body and flexible modes [13], and a constrained linear quadratic optimization algorithm [14] can be used in vibration suppression of flexible systems.…”

Section: Introductionmentioning

confidence: 99%

Topology Optimization Design and Experiment of a Soft Pneumatic Bending Actuator for Grasping Applications

Liu

Chen

Chi

et al. 2022

IEEE Robot. Autom. Lett.

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Soft pneumatic bending actuators are commonly used in robotic grasping applications and can be applied for handling both delicate and irregularly shaped objects. Because these soft pneumatic actuators are typically embedded with multiple air chambers inside soft, thin structures, their maximum payloads are usually low compared to rigid designs of similar size. This article presents a soft pneumatic bending actuator design using a topology optimization procedure that can maximize the bending capability and thus increase the allowable payload of soft grippers that consist of multiple pneumatic bending actuators. After an optimum design is obtained, multiple identical actuators are prototyped through a molding process using a silicone rubber material. Both two-fingered and three-fingered soft grippers are developed using the topology-optimized pneumatic bending actuators. Experiments, including a bending angle test, an output force test, and a payload test, are conducted in this study, and the results are compared against the test results of the commercial SRT soft pneumatic actuator. The experimental results show that the bending angle for the developed bending actuator is 111 degrees on average of 10 tests at an input pressure of 50 kPa. The output force is 9.45 N at an input pressure of 80 kPa, while the maximum payloads of the two-fingered and three-fingered grippers are 2.66kg and 5.12kg, respectively.

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Integrated Mechatronic Design in the Flexure-Linked Dual-Drive Gantry by Constrained Linear–Quadratic Optimization

Cited by 63 publications

References 25 publications

Topology and Size–Shape Optimization of an Adaptive Compliant Gripper with High Mechanical Advantage for Grasping Irregular Objects

Topology and Size–Shape Optimization of an Adaptive Compliant Gripper with High Mechanical Advantage for Grasping Irregular Objects

Path planning of collision avoidance for unmanned ground vehicles: A nonlinear model predictive control approach

Topology Optimization Design and Experiment of a Soft Pneumatic Bending Actuator for Grasping Applications

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