Pub Date : 2021-05-08DOI: 10.1504/IJMRS.2021.10037763
S. Panda, D. Mishra, B. B. Biswal
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.
{"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}
Pub Date : 2021-05-08DOI: 10.1504/IJMRS.2021.115156
Nicolas Mouazé, T. Nguyen, L. Birglen
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.
{"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}
Pub Date : 2020-05-14DOI: 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}
Pub Date : 1900-01-01DOI: 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}
Pub Date : 1900-01-01DOI: 10.1504/ijmrs.2020.10034061
P. A. Simionescu
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.
{"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}
Pub Date : 1900-01-01DOI: 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}
Pub Date : 1900-01-01DOI: 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}
Pub Date : 1900-01-01DOI: 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}
Pub Date : 1900-01-01DOI: 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}
Pub Date : 1900-01-01DOI: 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}
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