Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-361-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-361-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
06 Sep 2023
Research article |
| 06 Sep 2023
| 06 Sep 2023
Multi-objective optimization design of parallel manipulators using a neural network and principal component analysis
Chao Yang
Jiaxing Key Laboratory of Advanced Manufacturing Technology, Jiaxing University, Jiaxing, Zhejiang 314001, China
Peijiao Li
Jiaxing Key Laboratory of Advanced Manufacturing Technology, Jiaxing University, Jiaxing, Zhejiang 314001, China
Yang Wang
Jiaxing Key Laboratory of Advanced Manufacturing Technology, Jiaxing University, Jiaxing, Zhejiang 314001, China
Wei Ye
Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech
University, Hangzhou, Zhejiang 310018, China
Tianze Sun
Jiaxing Key Laboratory of Advanced Manufacturing Technology, Jiaxing University, Jiaxing, Zhejiang 314001, China
Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech
University, Hangzhou, Zhejiang 310018, China
Fengli Huang
Jiaxing Key Laboratory of Advanced Manufacturing Technology, Jiaxing University, Jiaxing, Zhejiang 314001, China
Hui Zhang
CORRESPONDING AUTHOR
Jiaxing Key Laboratory of Advanced Manufacturing Technology, Jiaxing University, Jiaxing, Zhejiang 314001, China
Related authors
Tianze Sun, Wei Ye, Chao Yang, and Fengli Huang
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The main contribution of this paper is to establish the dynamic model of the reconfigurable parallel mechanism, a versatile robotic system capable of adapting its configuration to different tasks. The dynamic model facilitates the analysis of the dynamic performance of the mechanism. This comprehensive dynamic model serves as a valuable tool for control algorithm development and the performance optimization of reconfigurable parallel mechanisms in diverse applications.
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The main contribution of this paper is to establish the dynamic model of the reconfigurable parallel mechanism, a versatile robotic system capable of adapting its configuration to different tasks. The dynamic model facilitates the analysis of the dynamic performance of the mechanism. This comprehensive dynamic model serves as a valuable tool for control algorithm development and the performance optimization of reconfigurable parallel mechanisms in diverse applications.
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Subject: Mechanisms and Robotics | Techniques and Approaches: Optimization
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Sen Wang, Xueyan Han, Haoran Li, Hongyu Xu, and Shihua Li
Mech. Sci., 15, 111–121, https://doi.org/10.5194/ms-15-111-2024, https://doi.org/10.5194/ms-15-111-2024, 2024
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In order to meet the need for high accuracy in road spectrum reproduction of vehicle durability tests, this paper is based on analysis of factors affecting the accuracy of a test platform. The large load capacity and fully decoupled mechanism proposed in the research work of this paper can improve the road spectrum reproduction accuracy of the vehicle durability test platform and has good application prospects in the field of vehicle durability tests.
Yanding Guo, Dong Wei, Tieqiang Gang, Xining Lai, Xiaofeng Yang, Guangming Xiao, and Lijie Chen
Mech. Sci., 14, 223–235, https://doi.org/10.5194/ms-14-223-2023, https://doi.org/10.5194/ms-14-223-2023, 2023
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This research provides a topology optimization method for thermal structures considering design-dependent convection boundaries. The effectiveness of the proposed method is illustrated using cases with reasonable configurations under complex thermal boundary conditions.
Jiabao Pan, Jin Ye, Hejin Ai, Jiamei Wang, and You Wan
Mech. Sci., 14, 47–60, https://doi.org/10.5194/ms-14-47-2023, https://doi.org/10.5194/ms-14-47-2023, 2023
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Optimizing the structure of the dust extraction port is the key to effectively improving the operational performance of the sweeper. CFD methods are used to analyze the influence of parameters on the sweeping effect in combination with a gas–solid two-phase flow model. The data set is established with the help of orthogonal test methods, and a BP neural network is used to fit the structural parameters and evaluation indexes.
Dongsheng Cong, Hao Jing, Ruijun Zhang, Zhongyue Lu, Jianzhong Shang, and Zirong Luo
Mech. Sci., 13, 411–425, https://doi.org/10.5194/ms-13-411-2022, https://doi.org/10.5194/ms-13-411-2022, 2022
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Due to the defects of the internal structure and energy supply carrier, conventional deep sea unoccupied marine equipment cannot meet the requirements of low power consumption. The energy efficiency characteristics of floating bodies with different shapes were simulated, and the amplitude response operator (RAO), radiation damping, added mass and Froude–Krylov force of floating bodies with different shapes were compared.
Haiqiang Zhang, Jianglong Tang, Qing Gao, Guohua Cui, Kan Shi, and Yan'an Yao
Mech. Sci., 13, 123–136, https://doi.org/10.5194/ms-13-123-2022, https://doi.org/10.5194/ms-13-123-2022, 2022
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Compared with the two traditional intelligent optimization algorithms, the results show that the particle swarm optimization configuration algorithm, based on an improved orthogonal experiment design, has a better optimization effect, and the results are improved to a certain extent. The evaluation indexes of a multi-objective optimization design are often contradictory. The designer needs to compromise and select an appropriate parameter design value.
Yong Liu, Xiang Li, Peiyang Jiang, Zhe Du, Zhe Wu, Boxi Sun, and Xinyan Huang
Mech. Sci., 13, 41–53, https://doi.org/10.5194/ms-13-41-2022, https://doi.org/10.5194/ms-13-41-2022, 2022
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First, we calculated the trajectory of the end effector of manipulator. This trajectory enables the end effector to reach the desired pose. At the same time, collision detection algorithm was employed to calculate the distance between each link of the manipulator and obstacle. We utilized the multi-objective particle swarm optimization algorithm to optimize the trajectory to minimize joint motor energy consumption and reduce joint velocity and joint impact during the movement of the manipulator.
Qiaoling Meng, Mingpeng Jiang, Zongqi Jiao, and Hongliu Yu
Mech. Sci., 13, 1–13, https://doi.org/10.5194/ms-13-1-2022, https://doi.org/10.5194/ms-13-1-2022, 2022
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This paper proposes a bionic, multi-posture wheelchair, based on the proposed human–wheelchair coupling model, according to the movement characteristics and requirements. The two key factors in designing the multi-posture wheelchair, the consistency of the motion center and the compensation of the shifting center of gravity, are analyzed in this paper. The novel multi-posture wheelchair can implement the sit-to-lie and sit-to-stand transformations with a maximum slipping distance of 10.5 mm.
Yanling Zhao, Enwen Zhou, Jingwei Zhang, Chunya Wu, and Chuang Yang
Mech. Sci., 12, 1005–1016, https://doi.org/10.5194/ms-12-1005-2021, https://doi.org/10.5194/ms-12-1005-2021, 2021
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Small motor stator winding at the same time is difficult to guarantee the uniform arrangement of enameled wire. This paper proposes a three-phase parallel equivalent multi-wire winding robot. The manipulator structure is designed, and the joint motion planning simulation is carried out to verify the feasibility of the multi-wire parallel winding hybrid robot. The research results of this paper provide a theoretical reference for multi-wire parallel winding equipment control.
Yitian Wang, Liu Zhang, Huanyu Zhao, and Fan Zhang
Mech. Sci., 12, 875–889, https://doi.org/10.5194/ms-12-875-2021, https://doi.org/10.5194/ms-12-875-2021, 2021
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This paper aims to investigate the problem of the complex structure optimization of a thin-film diffraction imaging system. A method based on the Kriging model and the improved particle swarm algorithm is proposed to optimize the structure of the thin-film diffraction imaging system. After optimization, the flexible vibration of the improved thin-film diffraction imaging system is effectively suppressed, and the stiffness and stability of the supporting structure are significantly improved.
Qian Lu, Chengyang Wang, Kaikai Zhang, and Hong Gao
Mech. Sci., 12, 837–846, https://doi.org/10.5194/ms-12-837-2021, https://doi.org/10.5194/ms-12-837-2021, 2021
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In this paper, a new parameter, the compliance ratio λ, which could reflect the sensitivity of the main form of the flexible hinge's output displacement, is proposed and discussed in detail. The optimization of the compliant actuator is carried out analyzing the compliance features of different types of flexible hinges. Finally, an actual precision linear position platform will be taken as an example, to prove the key performance of the compliant actuator is much better.
Guodong Yi, Huifang Zhou, Yang Wang, Jingli Wu, and Jundi Wu
Mech. Sci., 12, 615–624, https://doi.org/10.5194/ms-12-615-2021, https://doi.org/10.5194/ms-12-615-2021, 2021
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The deformation of blades under complex loads of multiple working conditions reduces the energy conversion efficiency. To reduce the deviation of the blade shape in practical working conditions, a combination and optimization method of blade design schemes under multiple working conditions, based on the entropy weight vague sets, is proposed. The results show that the proposed design scheme has a smaller blade shape deviation than the traditional design scheme under multiple working conditions.
Hsinpu Huang, Junhui Zhang, Bing Xu, Gan Liu, Qingyou Luo, and Ximeng Wang
Mech. Sci., 12, 249–257, https://doi.org/10.5194/ms-12-249-2021, https://doi.org/10.5194/ms-12-249-2021, 2021
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Robots are a hot topic of research nowadays. Making robot action more accurate and faster is the direction of scholars' efforts. Based on the hydraulic quadruped robot designed by the State Key Laboratory of Fluid Power & Mechatronic System, Zhejiang University, this article discusses the lightweight design for manifold mounted on the hydraulic actuator. Through topology optimization and channel optimization, the part is lighter and the drag loss is less.
Ye Dai, Zhaoxu Liu, Yunshan Qi, Hanbo Zhang, Bindi You, and Yufei Gao
Mech. Sci., 11, 233–250, https://doi.org/10.5194/ms-11-233-2020, https://doi.org/10.5194/ms-11-233-2020, 2020
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Aiming at the problem of moving path planning of a cellular robot on trusses in space station, a triangular prism truss is taken as the research object, and an optimized ant colony algorithm incorporating a gravitational search algorithm is proposed. The simulation results show that the path and planning time of the cellular robot can be effectively reduced when choosing truss path.
Abdur Rosyid, Bashar El-Khasawneh, and Anas Alazzam
Mech. Sci., 11, 49–73, https://doi.org/10.5194/ms-11-49-2020, https://doi.org/10.5194/ms-11-49-2020, 2020
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This extensive review paper, which involves 204 papers, discusses comprehensively a number of performance indices that are instrumental in the design of parallel kinematics manipulators. These indices measure the workspace as well as its quality including the distance to singularity, dexterity, manipulability, force transmission, accuracy, stiffness, and dynamic performance. This paper would benefit designers, practitioners and researchers in better understanding parallel manipulators.
Zhijiang Du, Miao Yang, and Wei Dong
Mech. Sci., 7, 127–134, https://doi.org/10.5194/ms-7-127-2016, https://doi.org/10.5194/ms-7-127-2016, 2016
M. Oberherber, H. Gattringer, and A. Müller
Mech. Sci., 6, 245–254, https://doi.org/10.5194/ms-6-245-2015, https://doi.org/10.5194/ms-6-245-2015, 2015
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The time optimal path following problem for industrial robots regards the problem of generating trajectories that follow predefined end-effector paths in shortest time possible, taking into account kinematic and dynamic constraints. This paper proposes an approach to deal with arbitrary long geometric paths. Further a method is presented to achieve suitable smooth trajectories for an implementation on a real robot, in an easy way.
L. Cao, A. Dolovich, and W. J. Zhang
Mech. Sci., 4, 357–369, https://doi.org/10.5194/ms-4-357-2013, https://doi.org/10.5194/ms-4-357-2013, 2013
A. Eskandari and P. R. Ouyang
Mech. Sci., 4, 303–310, https://doi.org/10.5194/ms-4-303-2013, https://doi.org/10.5194/ms-4-303-2013, 2013
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Short summary
The main contribution of this work is to propose a multi-objective optimization design method in terms of factor analysis, a back-propagation (BP) neural network, principal component analysis (PCA), and a particle swarm optimization (PSO) algorithm to achieve optimal comprehensive performance of a mechanism. The computational cost of the proposed approach was reduced by 96.95 % compared with the PSO algorithm, and the comprehensive performance increased by 118.92 %.
The main contribution of this work is to propose a multi-objective optimization design method in...
