Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links
| Autor: | Erick Axel Padilla-Garcia, J. E. Chong-Quero, Héctor Cervantes-Culebro, Carlos A. Cruz-Villar |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Optimization problem Inertial frame of reference General Computer Science planar parallel robot Computer science Control variable Grashof number PID controller 02 engineering and technology 020901 industrial engineering & automation 0203 mechanical engineering Control theory General Materials Science pick and place tasks differential evolution General Engineering Parallel manipulator Energy consumption Control-structure design Vibration 020303 mechanical engineering & transports high-speed Differential evolution Trajectory lcsh:Electrical engineering. Electronics. Nuclear engineering Maximum torque lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 9, Pp 17450-17462 (2021) |
| ISSN: | 2169-3536 |
| Popis: | In this article, the concurrent optimal design of a planar five-bar parallel robot for a high-speed pick and place task is considered. A trade-off between trajectory tracking, energy consumption and deformation of the flexible links is sought. Due to the high-speed operation, the minimization of the vibratory effect is considered since the design stage. Thus, the design is stated as a non-linear multi-objective dynamic optimization problem that is solved through the Differential Evolution (DE) algorithm, as well as, feasibility rules for constraints handling. Mechanical structural variables that modify the inertial parameters of the rigid and flexible links, as well as, control variables related to gains of a PID controller are considered as independent variables. This problem is subject to maximum torque that each motor could provide; inherent constraints for link manufacture; dimensional synthesis; Grashof’s criterion and initial and boundary conditions. Results show that it is possible, despite the vibrational phenomenon, to reduce the energy consumption without loss of precision through an appropriate mass balance of the actuated links. |
| Databáze: | OpenAIRE |
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