Article
Engineering, Mechanical
Hassen Nigatu, Doik Kim
Summary: This paper presents the optimization of the workspace for one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. A point-based approach with a shifting property, selection matrix, and constraint-embedded inverse Jacobian is proposed to solve the problem caused by the mixed degrees of freedom of 1T2R parallel manipulators. The proposed method is proven to be dimensionally homogeneous and more efficient than the conventional approach.
MECHANISM AND MACHINE THEORY
(2023)
Article
Chemistry, Multidisciplinary
Hasan Danaci, Luong A. Nguyen, Thomas L. Harman, Miguel Pagan
Summary: Inverse kinematics is a fundamental problem in manipulator robotics. Traditional solution techniques include analytical kinematics solvers and numerical methods. Recent swarm intelligence technology has also contributed to manipulator inverse kinematics solutions.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Electrical & Electronic
Jianqing Peng, Wenfu Xu, Fengxu Wang, Yu Han, Bin Liang
Summary: This paper proposes a hybrid hand-eye calibration method for multi-link cable-driven hyper-redundant manipulators, which eliminates errors through fusion modeling of eye-in-hand and eye-to-hand, improving calibration accuracy. The calibration framework and the multiple kinematics model are introduced, followed by solving calibration equations through recursive iteration and calibrating kinematic parameters using the particle swarm optimization method. Experimentation on a real MCDHM confirms the higher calibration accuracy of the proposed hybrid calibration method.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2021)
Article
Robotics
Rajesh Kumar, Sudipto Mukherjee
Summary: Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators, but issues such as cable slackening and singularity poses need to be addressed. This paper analyzes and generates manipulator configurations to reduce the effects of these limitations, showing that optimizing attachment point positions can be an effective solution.
Article
Engineering, Mechanical
Jiahao Qiu, Jun Wu, Bin Zhu
Summary: This paper introduces a parallel surgical robot with a remote center of motion and investigates its kinematic optimization design. The robot consists of two branches, each being a planar mechanism. The kinematics model of the robot is established using spatial geometric analysis. A modified Monte-Carlo sampling method is proposed to significantly increase the sampling rate during workspace calculation. Furthermore, a boundary sampling method is used to encrypt and sample the boundary of the workspace, obtaining an accurate workspace. A dexterity index with clear physical meaning is proposed and an optimized solution is obtained through multi-objective optimization using quantum particle swarm optimization. The optimized robot exhibits a large effective workspace and good dexterity, meeting the requirements of surgical robots.
MECHANISM AND MACHINE THEORY
(2023)
Article
Robotics
Matteo Russo, Marco Ceccarelli
Summary: This paper proposes a geometric formulation to describe the workspace of parallel manipulators, obtaining the workspace volume and boundary for each limb with an algebraic formulation. The overall workspace is determined as the intersection of the limb workspaces, and an algebraic formulation for including obstacles in the computation is also discussed. Analytical models and numerical simulations are reported with an example illustrating the feasibility and efficiency of the proposed formulation on a 3-SPR parallel mechanism.
Article
Engineering, Mechanical
Xu Liang, Xiang Zeng, Guotao Li, Wentao Chen, Tingting Su, Guangping He
Summary: Introduced a novel kinematically redundant parallel robot which overcomes the limitations of the GSM by adding three redundant actuators, and conducted analysis on its structure, kinematics, workspace, and singularities. Multi-parameter, multi-objective optimization was used to optimize its parameters, and an experimental prototype was designed based on the optimization results.
Article
Chemistry, Multidisciplinary
Phan Gia Luan, Nguyen Truong Thinh
Summary: This paper focuses on determining the workspaces of cable-driven parallel manipulators (CDPM), specifically looking at poses that can balance external wrenches on the moving platform. By proposing a novel procedure and condition, the feasibility of poses in CDPM is determined, and an algorithm for verifying the presence of a given pose in the workspace is established.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Multidisciplinary
Qiaohong Chen, Chao Yang
Summary: A hybrid algorithm combining Gaussian process regression and particle swarm optimization was proposed for multi-objective optimization design, achieving high efficiency and low computational cost by considering global performance indices as objective functions. The Gaussian process regression model showed higher accuracy and robustness compared to other mapping models. The proposed hybrid algorithm significantly reduced computational cost by 99.84% compared to using the particle swarm optimization algorithm, and improved the performance indices of the parallel manipulator.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Thermodynamics
Chintan Jansari, Stephane P. A. Bordas, Elena Atroshchenko
Summary: There is a growing interest in controlled heat flux manipulation to improve thermal apparatus efficiency. This study focuses on thermal metamaterial-based heat manipulators and optimizes their shape using Particle Swarm Optimization (PSO) method. The results show that the optimal shape of heat manipulators can be achieved by designing the thermal conductivity of the materials and adjusting the geometry parameters.
INTERNATIONAL JOURNAL OF HEAT AND MASS TRANSFER
(2022)
Article
Multidisciplinary Sciences
Pham Vu Hong Son, Nghiep Trinh Nguyen Dang
Summary: The study introduces a hybrid multi-verse optimizer model (hDMVO) that combines the multi-verse optimizer (MVO) and the sine cosine algorithm (SCA) to solve the discrete time-cost trade-off problem (DTCTP). The optimality of the algorithm is evaluated using 23 benchmark test functions, demonstrating its competitiveness with other algorithms. The performance of hDMVO is further evaluated using four benchmark test problems, showing its superiority in time-cost optimization for large-scale and complex projects compared to previous algorithms.
SCIENTIFIC REPORTS
(2023)
Article
Computer Science, Information Systems
Changsheng Huang, Yanpu Zhao, Mengjie Zhang, Hongyan Yang
Summary: This study proposes an APSO algorithm combining A* and PSO to address the issues in mobile robot path planning. The proposed algorithm optimizes the path planning by utilizing redundant point removal, stochastic inertia weight, and stochastic opposition-based learning strategies. The algorithm is evaluated using a motion time objective function that is more aligned with the actual requirements. Simulation results show that the APSO algorithm reduces the running time of the robot and outperforms other algorithms.
Article
Automation & Control Systems
Bin Zhou, Yuhang Wang, Bin Zi, Weidong Zhu
Summary: This paper proposes a fuzzy proportion integration differentiation (PID) control strategy based on an adaptive whale optimization algorithm (FPID-AWOA) for trajectory tracking of a cable-driven parallel robot (CDPR). Numerical examples show that the FPID-AWOA method achieves higher trajectory tracking accuracy compared to traditional methods and other optimization algorithms.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Computer Science, Artificial Intelligence
Lalit Kumar, Manish Pandey, Mitul Kumar Ahirwal
Summary: The computational time of swarm optimization algorithms, including Particle Swarm Optimization (PSO), is increased due to the large number of decision variables in complex problems. A new Global Best-Worst Particle Swarm Optimization (GBWPSO) algorithm, combining PSO and Jaya algorithm, is proposed to provide a more parallel version of the algorithm. The proposed algorithm outperforms other parallel PSO versions and Jaya algorithm in terms of computational time and optimal solution.
APPLIED SOFT COMPUTING
(2023)
Article
Automation & Control Systems
D. Maincer, Y. Benmahamed, M. Mansour, Mosleh Alharthi, Sherif S. M. Ghonein
Summary: This paper considers the application of SVM and KNN methods for fault diagnosis in a robot manipulator and conducts a comparative study between the two classifiers. The results show that the SVM algorithm with PSO is more precise than the KNN algorithm.
INTELLIGENT AUTOMATION AND SOFT COMPUTING
(2023)
