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Differential evolution techniques for the structure-control design of a five-bar parallel robot

ENGINEERING OPTIMIZATION 2010年第6期42卷 535-565页

作者： Villarreal-Cervantes, Miguel G. Cruz-Villar, Carlos A. Alvarez-Gallegos, Jaime Portilla-Flores, Edgar A. CINVESTAV IPN Dept Ingn Elect Mexico City 07300 DF Mexico CIDETEC IPN Dept Posgrad Area Mecatron Unidad Profes Adolfo Lopez Mateos Mexico City 07700 DF Mexico

The present work deals with the use of a constraint-handling differential evolution algorithm to solve a nonlinear dynamic optimization problem (NLDOP) with 51 decision variables. A novel mechatronic design approach is proposed as an NLDOP, where both the structural parameters of a non-redundant parallel robot and the control parameters are simultaneously designed with respect to a performance criterion. Additionally, the dynamic model of the parallel robot is included in the NLDOP as an equality constraint. The obtained solution will be a set of optimal geometric parameters and optimal PID control gains. The optimal geometric parameters adjust the dynamic and the kinematic parameters, optimizing then, the link shapes of the robot. The proposed mechatronic design approach is applied to design simultaneously both the mechanical structure of a five-bar parallel robot and the PID controller.

关键词： differential evolution parallel robot integrated design dynamic optimization problem

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Kinematic analysis and error modeling of TAU parallel robot

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2005年第6期21卷 497-505页

作者： Cui, HL Zhu, ZQ Gan, ZX Brogardh, T Stevens Inst Technol Dept Mech Engn Hoboken NJ 07030 USA ABB Corp Res Robot Technol Grp Windsor CT 06095 USA ABB Robot SE-72168 Vasteras Sweden

The TAU robot presents a new configuration of parallel robots with three degrees of freedom. This robotic configuration is well adapted to perform with a high precision and high stiffness within a large working range compared with a serial robot. It has the advantages of both parallel robots and serial robots. In this paper, the kinematic modeling and error modeling are established with all errors considered using Jacobian matrix method for the robot. Meanwhile, a very effective Jacobian approximation method is introduced to calculate the forward kinematic problem instead of Newton-Raphson method. It denotes that a closed form solution can be obtained instead of a numerical solution. A full size Jacobian matrix is used in carrying out error analysis, error budget, and model parameter estimation and identification. Simulation results indicate that both Jacobian matrix and Jacobian approximation method are correct and with a level of accuracy of micron meters. ADAMS's simulation results are used in verifying the established models. (c) 2004 Published by Elsevier Ltd.

关键词： parallel robot kinematics error modeling Jacobian matrix

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Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing

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NONLINEAR DYNAMICS 2023年第18期111卷 16939-16962页

作者： An, Zhiguo Zhou, Zhihong Li, Dailin Gao, Zhengyuan Chongqing Jiaotong Univ Sch Mechanotron & Vehicle Engn Chongqing 400074 Peoples R China

A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot's limited workspace and poor mobility. The robot's obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20 & DEG;in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance.

关键词： Crawler mobile mechanism parallel robot Trajectory planning Multi-body dynamics Obstacle performance

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Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2012年第1期28卷 14-23页

作者： Yang, Chifu Huang, Qitao Han, Junwei Harbin Inst Technol Dept Mech & Elect Engn Harbin 150001 Heilongjiang Peoples R China

This paper presents a decoupling controller equipped with cross-coupling pre-compensation for an electro-hydraulic parallel robot, in order to weaken system dynamic coupling effects usually ignored on the design of advanced controllers and improve system control performance. The mathematical model of the electro-hydraulic parallel robot is built using the Kane method and a hydromechanics approach, and the kinematical model is established with a closed-form solution and the Newton-Raphson method. The feedback linearization theory is applied to reduce coupling effects stemmed from system dynamics of the parallel robot via incorporating force-velocity control with cross-coupling pre-compensations. The control performance involving stability, accuracy, and robustness of the proposed controller for spatial 6-DOF parallel robot is analyzed in theory and experiment. The experimental results illustrate that the proposed controller can highly improve the control performance by weakening system dynamic coupling effects of the electro-hydraulic parallel robot, especially for trajectory tracking performance. (C) 2011 Elsevier Ltd. All rights

关键词： parallel robot Feedback linearization Electro-hydraulic system Dynamics Decoupling control

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Motion control analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS)

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2013年第2期29卷 318-327页

作者： Dalvand, Mohsen Moradi Shirinzadeh, Bijan Monash Univ RMRL Dept Mech & Aerosp Engn Melbourne Vic 3004 Australia

This paper presents motion control architectures for a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) that enable it to achieve milli/micro-manipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) point without any mechanical constraint. Two control structures suitable for minimally invasive surgery operations with submillimeter accuracy and for minimally invasive microsurgery operations with the desired accuracy in micron range are proposed. The control algorithm also applies orientation constraints preventing the tip from orienting around the instrument axis due to the robot movements as well as a minimum displacement constraint to minimise the movements of the parallel micropositioning robot. Experiments were performed and the results are analysed in this paper to verify accuracy and effectiveness of the proposed control algorithm for both cases of minimally invasive surgery and microsurgery operations. The experimental results present good accuracy and performance of the control algorithm. The numerical modelling and graphical simulations were also carried out and the results are also provided that demonstrate the correlation between the experimental results and physical responses. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Motion control parallel robot Remote Centre-of-Motion (RCM) Minimally invasive surgery Minimally invasive microsurgery

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Analysis of a novel cylindrical 3-DoF parallel robot

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robotICS AND AUTONOMOUS SYSTEMS 2003年第1期42卷 31-46页

作者： Wang, JS Liu, XJ Tsinghua Univ Mfg Engn Inst Dept Precis Instruments Beijing 100084 Peoples R China

In this paper, a novel three degrees of freedom (DoFs), that are two degrees of translational freedom and one degree of rotational freedom, parallel robot is proposed. The parallel robot consists of a base plate, a movable platform, and three connecting legs. Because the locus of any point on the moving platform is the subset of a cylinder if z is specified, the robot is called a cylindrical parallel robot. The inverse and forward kinematics problems are described in closed forms. And the velocity equation of the new parallel robot is given. Three kinds of singularities are presented. The workspace for the robot is analyzed systematically, especially, a new index to evaluate the mobility (In this paper, mobility means rotational capability.) of the moving platform of the robot is defined and discussed in detail. The parallel robot has wide application in the fields of industrial robots, simulators, microrobots and parallel machine tools. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： degrees of freedom parallel robot mobility workspace

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Optimum kinematic design of a planar cable-driven parallel robot with wrench-closure gait trajectory

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MECHANISM AND MACHINE THEORY 2016年 99卷 1-18页

作者： Abbasnejad, Ghasem Yoon, Jungwon Lee, Hosu Gyeongsang Natl Univ Sch Mech Engn Jinju 660701 South Korea Gyeongsang Natl Univ ReCAPT Jinju 660701 South Korea

We report the design of a planar cable-driven parallel robot with four cables. The design can generate a wrench-closure trajectory of the lower limb, shank, with applications in gait rehabilitation. Using such a design, any external wrench on the target limb can be balanced using cables for all poses of the limb near to the trajectory in the gait cycle. We calculate the largest wrench-closure circular zone centered at an arbitrary point of the trajectory for a given range of orientations around a reference orientation of the limb. Taking the area of such zones into account for a set of points on a given trajectory, we optimize the robot kinematics with fixed cable attachment points. However, static evaluation of the robot in the trajectory indicates that, in some part of the trajectory, a general extemal wrench cannot be balanced. Therefore, a reconfigurable design of the robot is investigated in which the cable attachment points on the base can move with respect to the motion of the limb in its trajectory. The area of wrench-closure zones in the trajectory can be increased using different actuation schemes, which are obtained and compared. Finally, a redundant reconfigurable robot with an optimum wrench-closure gait trajectory is proposed. (c) 2016 Elsevier Ltd. All rights reserved.

关键词： Gait rehabilitation parallel robot Cable-driven Planar Trajectory Wrench-closure

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The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach

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NONLINEAR DYNAMICS 2018年第2期93卷 689-703页

作者： Hui, Jizhuang Pan, Muxuan Zhao, Ruiying Luo, Li Wu, Linlin Changan Univ Natl Engn Lab Highway Maintenance Equipment Xian 710065 Shaanxi Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Energy & Power Engn Nanjing 210016 Jiangsu Peoples R China

The closed-form motion equation of the redundant actuation parallel robot with joint friction is established by an extended application of the Udwadia-Kalaba modeling. Based on the cascading nature of the Udwadia-Kalaba equation, the motion equation of the parallel robot is obtained in a hierarchical manner. The redundant actuation parallel robot is segmented into several leg subsystems, which are connected by the kinematic constraints. The constraint forces between the subsystems can be calculated by the Udwadia-Kalaba equation. In virtue of the derived constraint forces, the explicit joints friction models, described by Coulomb friction and Stribeck friction, are formulated separately. There are no auxiliary variables (such as Lagrange multipliers or pseudo-generalized speeds) needed in the method. The established dynamic modeling technique evades the curse of dimensionality when dealing with Moore-Penrose inverse. A 2-DOF redundant actuation parallel robot is chosen to demonstrate the method.

关键词： parallel robot Motion equation Udwadia-Kalaba equation Joint friction

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Singular-Perturbation-Based Nonlinear Hybrid Control of Redundant parallel robot

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2018年第4期65卷 3326-3336页

作者： Sun, Tao Liang, Dong Song, Yimin Tianjin Univ Minist Educ Key Lab Mech Theory & Equipment Design Tianjin 300350 Peoples R China

High-speed robots are being applied more and more widely in the scenarios of aviation manufacturing, electronic packaging, and three-dimensional printing, etc. To achieve high speed, the robots are typically designed to be lightweight, hence suffer from undesired vibration, so that the dynamic performance would deteriorate. In light of this, this paper considers the dynamic modeling and active control of an emerging redundant parallel robot. First, the recursively dynamic model is modularly established by means of Lagrangian multipliers method. For completeness, the model of permanent magnet synchronous motor is further integrated with the model of mechanical system to formulate the electromechanically coupled dynamic model (ECDM). To facilitate dynamic control, the ECDM is cleverly projected into the null space of constraint Jacobian matrix eliminating the need to compute Lagrangian multipliers explicitly. Based on singular perturbation approach and Tikhonov theorem, the ECDM is decomposed into two subsystems in different timescales. On this basis, a nonlinear hybrid control scheme is proposed for both trajectory tracking and vibration suppression. Numerical simulations suggest that the nonlinear hybrid control exhibits overwhelming performance than the conventional joint-based proportional and differential feedback control.

关键词： Nonlinear hybrid control (NHC) parallel robot redundant actuation singular perturbation approach trajectory tracking vibration suppression

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Computer integrated work-space quality improvement of the C4 parallel robot CMM based on kinematic error model for using in intelligent measuring

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2022年第4-5期35卷 444-461页

作者： Aliakbari, Mohammad Mahboubkhah, Mehran Sadaghian, Mohammadali Barari, Ahmad Akhbari, Sina Univ Tabriz Dept Mech Engn Bahman 29th Blvd Tabriz *** Iran Ontario Tech Univ Dept Automot Mech & Mfg Engn Oshawa ON Canada

Computer aided optimization and quality improvement of the performance of industrial machinery, without changing the original design, is one of the important challenges of intelligent manufacturing science, especially for robotic systems. In this paper, improving the performance of the new C4 robot serving as a coordinate measuring system (CMM) was considered. Since the efficiency of a robot is directly related to its work-space, calculating the quality improved work-space of this mechanism was studied. The new inverse and forward error models considering 48 error parameters were obtained using inverse kinematics. Afterward, a sensitivity analysis of the mechanism was implemented. Using the inverse kinematics and the discretization method, the work-space was calculated. Applying a new method, singularity tolerance, singular and quasi-singular points of the work-space were determined. In this proposal of a new computer integrated quality improvement algorithm, the work-space was investigated in various aspects including singularity, dexterity, and sensitivity analysis. The comparison between various indices for dexterity analysis was implemented and reliability and accuracy index was presented. Finally, the quality improved work-space was achieved without any physical changes to the structure. Selecting high-quality regions of work-space for operational intelligently can help to gain accurate results in industrial applications especially measuring tasks.

关键词： parallel robot computer integrated quality improvement work-space error model singularity dexterity

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