Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints

Zhao, Jingjin; Wu, Tsu‐Yang; Zhang, Ziqiang; Li, Xiaohui; Liu, Weihui

doi:10.1016/j.mechmachtheory.2021.104356

Cited by 4 publications

(3 citation statements)

References 20 publications

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“…Equation (21) shows that the optimisation problem is a bivariate function optimisation, which is performed using a genetic algorithm. 32,33 The genetic algorithm is characterised by encoding the optimisation parameters as chromosomes, i.e., symbolic n-dimensional decision vectors X = [x 1 , x 2 , .…”

Section: Optimised Design Of Support Foot Landing Position During Rec...mentioning

confidence: 99%

“…The homogeneous coordinate method 20–24 is used for theoretical analysis. First, the homogeneous transformation matrix corresponding to the adjacent coordinate system is calculated; then, the homogeneous transformation matrix of the coordinate system of each component relative to the basic coordinate system can be obtained according to the corresponding homogeneous transformation matrix of the calculated adjacent coordinate system.…”

Section: Coupled Reconfiguration Kinematic Modellingmentioning

confidence: 99%

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Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

Liu

Yan

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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An unmanned deformable vehicle, which is a new type of robot combining a car and a robot, can drive at high speed with wheels and walk with steps. An unmanned deformable vehicle is prone to tipping instability when reconfigured between the automotive and humanoid states. The following work reported herein addresses these issues. The kinematic model of an unmanned deformed vehicle during the coupled reconfiguration process was established. The zero moment point (ZMP) theory was used as the stability criterion, and based on the requirement for stability during the reconstruction process, a genetic algorithm was used to find the optimal value of the support state foot landing position for the parking and driving coupled reconfiguration, and for the optimal value of the driving acceleration of the deformed vehicle during the driving coupled reconfiguration. On the basis of the optimal foot landing position, the total reconfiguration time threshold, deformed vehicle driving acceleration threshold, and support surface tilt angle threshold were analysed and calculated in accordance with stability requirements during the reconfiguration. Finally, the stability performance of the optimised system was verified through prototype testing.

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Section: Optimised Design Of Support Foot Landing Position During Rec...mentioning

confidence: 99%

Section: Coupled Reconfiguration Kinematic Modellingmentioning

confidence: 99%

Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

Liu

Yan

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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show abstract

“… 7 Most of the manipulators currently used in industry and engineering adopt empirical methods for configuration synthesis. In addition, there have been many innovative configuration synthesis methods, such as Lie group, 8 – 10 screw theory, 11 – 14 position and orientation characteristic set theory, 15 , 16 General-Function set, 17 , 18 and so on. Among these theories, screw theory is the most widely used.…”

Section: Introductionmentioning

confidence: 99%

Design of tunnel steel arch looping manipulator with multiple actuators in limited space

He,

Yang,

et al. 2023

Science Progress

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In order to overcome the low efficiency, high labor intensity and high risk of steel arch support operations in tunnel boring machines, a steel arch looping manipulator with multiple actuators was designed. Firstly, in order to simplify the complex design requirements of the manipulator, an exponential product model was established to analyze the influence of each single joint on the end output, and the manipulator was decomposed into different modules. The design is carried out separately, layer by layer, in the order of actuator—trunk module—branch module. Then, the optimal manipulator is obtained considering the limited space, equivalent flexibility, and joint control accuracy requirements. Finally, a prototype of the steel arch looping manipulator was manufactured and the feasibility of the manipulator was verified by experiments. The design method can provide a reference for the design of multi-actuator manipulator configuration in limited space.

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A novel method for computing self-motion manifolds

Zhao

Xie

2023

Mechanism and Machine Theory

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Tree-Evolution: A novel approach for kinematic synthesis of serial robots under performance constraints

Cited by 4 publications

References 20 publications

Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

Design of tunnel steel arch looping manipulator with multiple actuators in limited space

A novel method for computing self-motion manifolds

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