Structure and Performance Analysis of the 7! Robots Generated From an Optimally Fault Tolerant Jacobian

Xie, Biyun; Maciejewski, Anthony A.

doi:10.1109/lra.2017.2715879

Cited by 3 publications

(1 citation statement)

References 18 publications

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“…The kinematics performance directly bears on the labelling effect of the robot. The condition number KJ of the Jacobian matrix of the hybrid mechanism was used to measure this performance index [23]. If the condition number is infinite, the Jacobian matrix of the hybrid mechanism is singular.…”

Section: Multi-objective Optimizationmentioning

confidence: 99%

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Deng¹,

Liu²,

Zhang³

2019

JESA

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This paper proposes a novel 3T2R labelling robot with hybrid mechanism for the end-faces of round steels. The hybrid mechanism consists of a three degrees-of-freedom (DOFs) translation (3T) parallel mechanism and a two DOFs rotation (2R) mechanism. Based on the Jacobian matrix of the hybrid mechanism, the author analyzed the influence of each dimension parameter on three performance indices, namely, kinematics, transmission and stiffness of the mechanism, under the constraints of the workspace. Based on the Pareto frontier approach, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) was adopted to find the optimal values of the three performance indices, and identify the dimension parameters that bring the best overall performance of the whole mechanism. The research results shed new light on the design of light weight labelling robot. Journal homepage: http://iieta.org/journals/jesa P Q q J J J J J J J J J −   ==    J J J . (7) 0 0 c 0 J J J l l J J J l s J J J l max -1 min = J K   = J JJ J

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Section: Multi-objective Optimizationmentioning

confidence: 99%

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Deng¹,

Liu²,

Zhang³

2019

JESA

View full text Add to dashboard Cite

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Kinematic Design of Optimally Fault Tolerant Robots for Different Joint Failure Probabilities

Xie

Maciejewski

2018

IEEE Robot. Autom. Lett.

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Optimal resource allocation method and fault-tolerant control for redundant robots

Rong,

Dou,

Zhang

2023

Mech. Sci.

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Abstract. Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Firstly, the principal component analysis method under unsupervised branches in machine learning is used to analyze the reliability function and various indexes of the robot to obtain the comprehensive evaluation function. Then, based on the fault-tolerant-control inverse-kinematics optimal algorithm, each joint can be scheduled by weighted processing. Finally, the comprehensive evaluation function is used as an index to evaluate the probability of fault occurrence, and the weight is defined to realize the coordinated resource allocation of redundant robots. Taking the planar four revolute joints (4R) redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.

show abstract

Structure and Performance Analysis of the 7! Robots Generated From an Optimally Fault Tolerant Jacobian

Cited by 3 publications

References 18 publications

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Dimension Synthesis of a 3T2R Labelling Robot with Hybrid Mechanism

Kinematic Design of Optimally Fault Tolerant Robots for Different Joint Failure Probabilities

Optimal resource allocation method and fault-tolerant control for redundant robots

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