Optimization Algorithms for Kinematically Optimal Design of Parallel Manipulators

Lou, Yunjiang; Zhang, Yongsheng; Huang, Ruining; Chen, Xin; Li, Zigang

doi:10.1109/tase.2013.2259817

Cited by 49 publications

(14 citation statements)

References 35 publications

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“…A new intelligent parallel manipulator system is designed in this paper for exerting 3D active corrective forces on the spine of patients [6]. A spatial multi-degree of freedom (multi-DOF) parallel robotic manipulator actuated by electrical actuators is used as the robotic brace in this paper, since this parallel structure has high precision, high reliability, and high power weight radio and offers 3D active corrective forces [7][8][9]. However, this type of parallel mechanism has the following disadvantages, strong dynamic coupling in task space or joint space, adverse effect of system's gravity and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system.…”

Section: Instructionmentioning

confidence: 99%

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Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu

Yang

Tian

et al. 2019

Mathematical Problems in Engineering

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According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.

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Section: Instructionmentioning

confidence: 99%

“…According to Kane approach and based on (4), (9), and (10), the dynamic model of the intelligent robotic system is described as…”

Section: System Modelmentioning

confidence: 99%

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu

Yang

Tian

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…Hao and Merlet [28] proposed a multi-criteria optimization method of parallel robot parameters based on the interval analysis, and took nearly 48 hours to optimize the parameters of one configuration. Lou et al [29] analyzed and compared the application effect of several optimization algorithms for kinematically optimal design of parallel robot, and found that the optimization algorithm based on stochastic solution has better convergence effect in the complex multi-objective optimization problem. The multi-objective optimization problem is a common problem in the optimization design of parallel robots, and many optimization algorithms based on stochastic solution have been proposed to solve the complex multi-objective optimization problem [30]- [33].…”

Section: Introductionmentioning

confidence: 99%

Design Optimization of Redundantly Actuated Cable-Driven Parallel Robots for Automated Warehouse System

et al. 2020

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This study focuses on the optimization of the geometry configurations and mobile platform parameters of redundantly actuated cable-driven parallel robots (RA-CDPRs) for automated warehouse system (AWS). Owing to their potential structural advantages, RA-CDPRs are proposed to replace conventional stackers in AWS, to achieve a high payload mass and low cable tension in frequent automated retrieval/storage operations. To meet these operational requirements, the maximal payload criterion satisfying the wrench-feasible condition is used to determine the optimal geometry configuration. Based on the optimal geometry configuration, the minimal cable tension is designed as the other criterion for optimizing the mobile platform parameters of RA-CDPRs. The optimization method is validated on a 6-DOF RA-CDPR, and the optimal results are simulated and implemented under static equilibrium conditions. Both the simulation and experimental results verify the optimal results can significantly enhance the payload mass and decrease the cable tension of AWS. INDEX TERMS Cable-driven parallel robots, geometry configuration selection, optimization design, automated warehouse system.

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“…These optimization methods are used for investigating the best geometric parameters for structures of parallel manipulators. On the other hand some researchers compared convergence performances of optimization methods [23].…”

Section: Introductionmentioning

confidence: 99%

SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

Eryılmaz

Omurlu

2019

Journal of Robotics

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The determination of kinematic parameters for a parallel robotic system (PRS) is an important and a critical phase to maximize reachable workspace while avoiding singular configurations. Stewart Platform (SP) mechanism is one of the widely known PRS and it is used to demonstrate the proposed technique. In the related literature, GCI (Global Condition Index) and LCI (Local Condition Index) are the commonly used performance indexes which give a measure about the dexterity of a mechanism. In this work, Sequential Quadratic Programming (SQP) method is used to optimize kinematic parameters of a 6dof 3x3 UPU SP in order to reach maximum workspace satisfying small condition numbers. The radius of mobile and base platforms and the lengths of the legs used in the platform are chosen as kinematic parameters to be optimized in a multiobjective optimization problem. Optimization is performed at different stages and the number of optimized kinematic parameters is increased at each level. In conclusion, optimizing selected kinematic parameters at once by using SQP technique presents the best results for the PRS.

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Optimization Algorithms for Kinematically Optimal Design of Parallel Manipulators

Cited by 49 publications

References 35 publications

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Design Optimization of Redundantly Actuated Cable-Driven Parallel Robots for Automated Warehouse System

SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

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