This paper is aimed at presenting a study on the optimization of the Biglide and Bipod mini parallel robots, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant and variable struts. The robo...
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This paper is aimed at presenting a study on the optimization of the Biglide and Bipod mini parallel robots, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant and variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with genetic algorithms (GA) for optimization considering transmission quality index, design space and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF mini parallel robots. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker.
The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini pa...
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The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.
In this paper a workspace and stiffness analysis for a two-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. The variation tendency of stiffness withi...
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ISBN:
(纸本)9781424415304;1424415306
In this paper a workspace and stiffness analysis for a two-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. The variation tendency of stiffness within the workspace is presented and the impact of variation of design parameters on the stiffness characteristics is given, that is helpful for the architecture design of a 2-dof parallel robot considering stiffness performance. We proposed a numerical procedure for determining and evaluating the workspace of the Bipod robot architecture. The analysis and algorithm can be used as a design tool to select dimensions, actuators and joints in order to maximize the workspace and improve stiffness within the workspace. This paper provides a basis for the architectural design of the 2-dof parallel robot with stiffness properties taken into account, which is necessary from the design point of view.
Model based predictive control (MBPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. When MBPC is employed on nonlinear processes, the application of this t...
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Model based predictive control (MBPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. When MBPC is employed on nonlinear processes, the application of this typical linear controller is limited to relatively small operating regions. The accuracy of the model has significant effect on the performance of the closed loop system. Hence, the capabilities of MBPC will degrade as the operating level moves away from its original design level of operation. This paper presents an MPC algorithm which uses on-line simulation and rule-based control. The basic idea is the online simulation of the future behaviour of control system, by using a few control sequences and based on nonlinear analytical model equations. Finally, the simulations are used to obtain the 'optimal' control signal. These issues will be discussed and nonlinear modeling and control of a single-pass, concentric-tube, counter flow or parallel flow heat exchanger w ill be presented as an example.
Axial piston pumps are the most widely used pumps in hydraulic actuation systems. Their technical characteristics make them the best option for most applications starting from industrial machine tools, up to mobile eq...
The environment's protection is one of the most actual problems, because of the fact that pollution is a major danger for planet life. The environment's pollution is caused because some pollution agents are in...
The environment's protection is one of the most actual problems, because of the fact that pollution is a major danger for planet life. The environment's pollution is caused because some pollution agents are in too large a quantity for a long time and they become dangerous for human health, for the flora, for the fauna and for the constructions too. The pollution sources can be classified as natural and artificial sources. The quality of the environment from a specific area at a certain time can be determined by: a) the air quality; b) the water quality; c) the soil quality; d) the health level of the population; e) the decrease of animals and plants species that are accounted for. In the paper there are given the urban traffic on the principal routes inside the Cluj‐Napoca municipality. The traffic is the constituent part of the research activity of the national project having the destination the monitoring of the noise and vibrations into an urban agglomeration, applied to the Cluj ‐ Napoca town. This study is the first step for the "noise map" asked for by the Romania integration in the European Union for the team researchers of TUCN under the the direction of Dr. Mariana Arghir.
The present paper contains our study regarding the diminution of the urban noise using the phonique barrier walls conformed to the EMPARA procedure, which is based on the simplified of the standard method for the meas...
The present paper contains our study regarding the diminution of the urban noise using the phonique barrier walls conformed to the EMPARA procedure, which is based on the simplified of the standard method for the measurements and computes of the surface traffic inside the urban agglomeration, as they are given in SRM2 laws (Netherlands standards). There are made the studies taking into account all the parameters that characterize the the noise and they are graphical representations having the “n‐1” constant parameters and only one having the time variation law. In this way we are obtained the influence of each parameter in the diminution of the urban noise using the phonique barrier walls. In addition we realized a measurement for a real barrier wall inside the Oradea town. The comparison between them was enough good, that means our theoretical study is correct and characterizes the noise pollution and its diminution on the urban agglomeration. The measurement device was a CENTER 322 Sound Lever Meter. This study contains the two steps for the “noise map” asked for the Romania integration in the European Union, and was made by the researchers of the Oradea University under the direction of the Prof. Dr. Ing. Mariana ARGHIR from the Technical University of Cluj‐Napoca.
Model predictive control (MPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. In most of nonlinear strategies, the controllers are based on linear models wi...
The aim of this paper is to show the usefulness of the multicriteria approach to optimize the Parallel Kinematic Machines (PKM). Variations of the kinematic performances index remain not constant throughout workspace....
In the paper is presented a simulation system for parallel robots, which deals with the robot kinematics, workspace generation, singular position identification and trajectory visualization. The latest obtained result...
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ISBN:
(纸本)3901249850
In the paper is presented a simulation system for parallel robots, which deals with the robot kinematics, workspace generation, singular position identification and trajectory visualization. The latest obtained results demonstrate that from the kinematic model and the graphical simulation the implemented algorithms offer a higher degree of generality. Therefore the developed simulation software modules may be applied to different types of parallel robots with three degrees of freedom. The computing time necessary for generating the virtual model is relatively small.
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