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Optimum design of 3R manipulator using hybrid PSOGSA algorithm 基于混合PSOGSA算法的3R机械手优化设计
International Journal of Mechanisms and Robotic Systems Pub Date : 2021-05-08 DOI: 10.1504/IJMRS.2021.10037763
S. Panda, D. Mishra, B. B. Biswal
{"title":"Optimum design of 3R manipulator using hybrid PSOGSA algorithm","authors":"S. Panda, D. Mishra, B. B. Biswal","doi":"10.1504/IJMRS.2021.10037763","DOIUrl":"https://doi.org/10.1504/IJMRS.2021.10037763","url":null,"abstract":"Larger workspace volume is one of the most important objectives in the optimum design of robot manipulator. In the present study, the workspace volume of a 3R manipulator has been maximised. The nonlinear constrained optimisation problem has been solved using the particle swarm optimisation (PSO) and a hybrid PSO and gravitational search algorithm (GSA). The proposed algorithm combines the search method of PSO and GSA with enhanced exploration ability to achieve higher workspace volume as compared to the established available results. Further, the total void cross section area has been estimated and a quantitative analysis of the results has been made to identify the key influencing kinematic parameters and prioritise the constraints. Applications of the hybrid algorithm on two industrial manipulators are presented as case studies. An important implication of this article is that the proposed hybrid algorithm provides encouraging result in terms of objective function values and CPU time.","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131235531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Non-cylindrical wrapping rods and compliant adapters for multi-mode twisting string actuation 多模式扭弦驱动用非圆柱形缠绕杆和兼容适配器
International Journal of Mechanisms and Robotic Systems Pub Date : 2021-05-08 DOI: 10.1504/IJMRS.2021.115156
Nicolas Mouazé, T. Nguyen, L. Birglen
{"title":"Non-cylindrical wrapping rods and compliant adapters for multi-mode twisting string actuation","authors":"Nicolas Mouazé, T. Nguyen, L. Birglen","doi":"10.1504/IJMRS.2021.115156","DOIUrl":"https://doi.org/10.1504/IJMRS.2021.115156","url":null,"abstract":"In this paper, improvements of the basic twisting string actuation commonly found in the literature are demonstrated based on the addition of two types of passive elements in order to optimise mechanical efficiency. First, the motion speed is increased with non-cylindrical rigid wrapping. Secondly, passive compliant load adjusters are added to improve the overall mechanical advantage of the transmission in reaction to varying loads. A mathematical model of the new system is first detailed in the paper and provides numerical simulations subsequently validated with experimental results. The impact on the important characteristics of the transmission of the design parameters are shown in details and the simulations highlight several improvements of our proposed design compared to existing twisting wire systems. Finally, this novel transmission with a compliant adjuster is used to drive an underactuated robotic finger to demonstrate its effectiveness.","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127335259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A GPU homotopy path tracker and end game for mechanism synthesis 一种用于机构综合的GPU同伦路径跟踪器和终点博弈
International Journal of Mechanisms and Robotic Systems Pub Date : 2020-05-14 DOI: 10.1007/978-3-030-43929-3_19
J. Glabe, J. McCarthy
{"title":"A GPU homotopy path tracker and end game for mechanism synthesis","authors":"J. Glabe, J. McCarthy","doi":"10.1007/978-3-030-43929-3_19","DOIUrl":"https://doi.org/10.1007/978-3-030-43929-3_19","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127777321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Decoupling optimisation and fuzzy back end evaluation of lower extremity exoskeleton robot 下肢外骨骼机器人解耦优化与模糊后端评价
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/ijmrs.2021.10042915
Mostafa Kazi, Yanfei Zhang, Xuefang Teng, Yubin Lan, Ke Sun, Jinliang Gong
{"title":"Decoupling optimisation and fuzzy back end evaluation of lower extremity exoskeleton robot","authors":"Mostafa Kazi, Yanfei Zhang, Xuefang Teng, Yubin Lan, Ke Sun, Jinliang Gong","doi":"10.1504/ijmrs.2021.10042915","DOIUrl":"https://doi.org/10.1504/ijmrs.2021.10042915","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128092965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Simulation of repetitive mechanisms using modular kinematics 使用模块化运动学的重复机构仿真
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/ijmrs.2020.10034061
P. A. Simionescu
{"title":"Simulation of repetitive mechanisms using modular kinematics","authors":"P. A. Simionescu","doi":"10.1504/ijmrs.2020.10034061","DOIUrl":"https://doi.org/10.1504/ijmrs.2020.10034061","url":null,"abstract":"Simulations of several repetitive mechanisms, some of them considered difficult to perform, have been done relatively easily using for loops and the MeKin2D modular-kinematics subroutines. These simulations include generation of multiple couple-curves, wicked-vane and aperture mechanisms, feathering paddlewheels, radial engines and a folding pop riveter. For the former two mechanisms, in addition to motion simulation, shaking-force and mechanical-advantage analyses have also been performed, respectively. For a better understanding of the computer implementations of these simulations, their source code is also provided as an Appendix to the paper.","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116825008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Path planning of mobile robot in complex environment based on improved Q-learning algorithm 基于改进q -学习算法的复杂环境下移动机器人路径规划
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/ijmrs.2022.10052662
Yuyang Zhou, D. Wang
{"title":"Path planning of mobile robot in complex environment based on improved Q-learning algorithm","authors":"Yuyang Zhou, D. Wang","doi":"10.1504/ijmrs.2022.10052662","DOIUrl":"https://doi.org/10.1504/ijmrs.2022.10052662","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126015059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A new hybrid aerial and ground hoverbike: dynamics and control 一种新的空中和地面混合动力悬浮自行车:动力学和控制
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/ijmrs.2022.10052948
M. Lashin, Abdullah T. Elgammal
{"title":"A new hybrid aerial and ground hoverbike: dynamics and control","authors":"M. Lashin, Abdullah T. Elgammal","doi":"10.1504/ijmrs.2022.10052948","DOIUrl":"https://doi.org/10.1504/ijmrs.2022.10052948","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130107301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Multi-modal continuous approximate synthesis of planar four-bar function generators 平面四杆函数发生器的多模态连续近似综合
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/ijmrs.2022.10051739
M. Hayes, Z. Copeland
{"title":"Multi-modal continuous approximate synthesis of planar four-bar function generators","authors":"M. Hayes, Z. Copeland","doi":"10.1504/ijmrs.2022.10051739","DOIUrl":"https://doi.org/10.1504/ijmrs.2022.10051739","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130137890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Exploring the synergies of dynamic fuel management and propulsion electrification 探索动态燃料管理和推进电气化的协同作用
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/IJMRS.2021.10036412
M. Raghavan, N. Shidore
{"title":"Exploring the synergies of dynamic fuel management and propulsion electrification","authors":"M. Raghavan, N. Shidore","doi":"10.1504/IJMRS.2021.10036412","DOIUrl":"https://doi.org/10.1504/IJMRS.2021.10036412","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125048798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Haar Wavelet Collocation Method for Solving the System of Linear Fredholm Integral Equations with Constant Coefficients 求解常系数线性Fredholm积分方程组的Haar小波配点法
International Journal of Mechanisms and Robotic Systems Pub Date : 1900-01-01 DOI: 10.1504/ijmrs.2020.10027624
A. Raina, S. Manjula, C. Sateesha, A. Reddy
{"title":"Haar Wavelet Collocation Method for Solving the System of Linear Fredholm Integral Equations with Constant Coefficients","authors":"A. Raina, S. Manjula, C. Sateesha, A. Reddy","doi":"10.1504/ijmrs.2020.10027624","DOIUrl":"https://doi.org/10.1504/ijmrs.2020.10027624","url":null,"abstract":"","PeriodicalId":344520,"journal":{"name":"International Journal of Mechanisms and Robotic Systems","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123525317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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