Optimum Balancing of the Four-Bar Linkage Using Fully Cartesian Coordinates

Acevedo, Mario; Orvananos, Teresa; Velázquez, Ramiro; Haro, Eduardo Fernández de

doi:10.1109/tla.2019.8896821

Cited by 9 publications

(4 citation statements)

References 24 publications

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“…It is noted that the mass remains the same before and after the AKP adjustment. Rows (3,4,5) give details of the coordinate points 𝑂 1𝑚 ,𝑂 2𝑚 ,𝑂 3𝑚 relative to the Frame O, which is the positions of the lower links intersected with the three servomotors, respectively. Rows (8,9,10) give details of the three lower links intersected with three upper links relative to the global Frame O.…”

Section: Definition Of the Spacar Model For Simulationmentioning

confidence: 99%

“…In precision machinery, balancing of robotic machines is very important especially for micro-machines [1][2][3]. Balancing of robotic machines will also affect tracking of motion with the machines [4][5][6][7][8][9]. Although machines differ from mechanisms in that machines also involve energy or power transfer in addition to motion and force transfer [10], in this paper, they are used interchangeably.…”

Section: Introductionmentioning

confidence: 99%

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Extending the Force Balancing Method of Adjusting Kinematic Parameter to Spatial Mechanisms

Borugadda

Zhang

et al. 2022

J. Phys.: Conf. Ser.

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Robotic mechanisms is one that the mechanism includes no less than one variable speed actuator. As for force balancing, which refers to mechanisms with a complete cancelation of the inertia-induced force on the ground (shaking force). A few strategies are accessible for reducing shaking force, including the counterweight (CW), add-of-spring (AOS), add-of-linkage (AOL), and adjusting kinematic parameter (AKP). AKP is only applicable to planar robotic mechanisms when it was developed. The primary goal of the present paper is to extend AKP approach to a spatial mechanism. Considering the complex kinematic characteristics of spatial mechanism, a simple spherical parallel robot (SPR) is used as the research tool. The equations for force balancing of the spherical robotic mechanism using AKP were derived. Simulation verification was performed by a reliable software called SPACAR available in the Matlab environment. The results demonstrated the effectiveness of the AKP method in eliminating the unbalanced force to spatial mechanisms. The main contribution is the provision of a new force balancing method to spatial mechanisms, which will enrich the field of balancing of spatial robotic mechanisms.

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Section: Definition Of the Spacar Model For Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Extending the Force Balancing Method of Adjusting Kinematic Parameter to Spatial Mechanisms

Borugadda

Zhang

et al. 2022

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

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“…In designing such a mechanism, several problems related to kinematics and dynamics must be solved. The determination of workspace (including singularity points) and trajectory planning are the main kinematic issues [1][2][3][4][5][6][7][8][9][10][11][12][13], while determination and minimization of the shaking forces and torques, together with the torques of the actuators, are the crucial dynamic issues [14][15][16][17][18][19][20][21][22][23]. In [2,3], the singularity and workspace of the 5R (revolute joint) symmetrical parallel mechanism are studied.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace

2022

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In this paper, a structural design and controller optimization process for a five-bar planar manipulator are studied using three different population-based optimization techniques: particle swarm optimization, genetic algorithm, and differential evolution. First, the desired kinematic properties of the manipulator, such as the position, velocity, and acceleration of the endpoint, are determined using inverse kinematics. Then, an optimization problem is created to minimize the shaking force and moments, and the desired kinematic quantities are implemented as constraints. All the link properties of the manipulator are defined as design variables, and the optimization results are obtained. The results show that it is possible to significantly reduce the shaking force and moment significantly thanks to the optimal design parameters. Finally, the controller is optimized to find the best PID gains considering the forward kinematics of the manipulator. It is observed that the shaking force and shaking moment can be reduced by 99% and 54%, respectively, which has a very positive effect on the accuracy of the trajectory tracking. Moreover, the performances of the optimization methods are compared by using the same number of iterations in the calculations, and thus, it can be seen that the GA method achieves the best results compared to the others. Therefore, the results of this study are of utmost importance for a manufacturer, who wants to design a five-bar planar manipulator and its controller.

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“…Our previous work [38,39] successfully reported the dynamic balancing of a four-bar mechanism and its optimization with Projected Gradient Descent. In this paper, we address the dynamic balancing of a more complex system, a six-bar mechanism, and explore the differential evolution (DE) algorithm as our optimization method.…”

Section: Introductionmentioning

confidence: 99%

Complete Balancing of the Six-Bar Mechanism Using Fully Cartesian Coordinates and Multiobjective Differential Evolution Optimization

et al. 2022

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The high-speed operation of unbalanced machines may cause vibrations that lead to noise, wear, and fatigue that will eventually limit their efficiency and operating life. To restrain such vibrations, a complete balancing must be performed. This paper presents the complete balancing optimization of a six-bar mechanism with the use of counterweights. A novel method based on fully Cartesian coordinates (FCC) is proposed to represent such a balanced mechanism. A multiobjective optimization problem was solved using the Differential Evolution (DE) algorithm to minimize the shaking force (ShF) and the shaking moment (ShM) and thus balance the system. The Pareto front is used to determine the best solutions according to three optimization criteria: only the ShF, only the ShM, and both the ShF and ShM. The dimensions of the counterweights are further fine-tuned with an analysis of their partial derivatives, volumes, and area–thickness relations. Numerical results show that the ShF and ShM can be reduced by 76.82% and 77.21%, respectively, when importance is given to either of them and by 45.69% and 46.81%, respectively, when equal importance is given to both. A comparison of these results with others previously reported in the literature shows that the use of FCC in conjunction with DE is a suitable methodology for the complete balancing of mechanisms.

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Optimum Balancing of the Four-Bar Linkage Using Fully Cartesian Coordinates

Cited by 9 publications

References 24 publications

Extending the Force Balancing Method of Adjusting Kinematic Parameter to Spatial Mechanisms

Extending the Force Balancing Method of Adjusting Kinematic Parameter to Spatial Mechanisms

Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace

Complete Balancing of the Six-Bar Mechanism Using Fully Cartesian Coordinates and Multiobjective Differential Evolution Optimization

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