Optimum design of a three-dimensional serial robot manipulator

1999 ◽  
Vol 17 (2-3) ◽  
pp. 172-185 ◽  
Author(s):  
J. A. Snyman ◽  
F. Tonder
Keyword(s):  
Optimum Design ◽  
Robot Manipulator ◽  
Three Dimensional ◽  
Serial Robot

Optimization of the Wrist Pin End of an Automobile Engine Connecting Rod With an Interference Fit

1990 ◽  
Vol 112 (3) ◽  
pp. 406-412 ◽  
Author(s):  
Vijay Sarihan ◽  
Ji Oh Song
Keyword(s):  
Finite Element ◽  
Optimum Design ◽  
Three Dimensional ◽  
Stress Singularity ◽  
Design Strategy ◽  
Structural Components ◽  
Connecting Rod ◽  
Fem Model ◽  
Automobile Engine ◽  
Interference Fit

Current design procedures for complicated three-dimensional structural components with component interactions may not necessarily result in optimum designs. The wrist pin end design of the connecting rod with an interference fit is governed by the stress singularity in the region where the wrist pin breaks contact with the connecting rod. Similar problems occur in a wide variety of structural components which involve interference fits. For a better understanding of the problems associated with obtaining optimum designs for this important class of structural interaction only the design problems associated with the wrist pin end of the rod are addressed in this study. This paper demonstrates a procedure for designing a functional and minimum weight wrist pin end of an automobile engine connecting rod with an interference fit wrist pin. Current procedures for Finite Element Method (FEM) model generation in complicated three-dimensional components are very time consuming especially in the presence of stress singularities. Furthermore the iterative nature of the design process makes the process of developing an optimum design very expensive. This design procedure uses a generic modeler to generate the FEM model based on the values of the design variables. It uses the NASTRAN finite element program for structural analysis. A stress concentration factor approach is used to obtain realistic stresses in the region of the stress singularity. For optimization, the approximate optimization strategy in the COPES/CONMIN program is used to generate an approximate design surface, determine the design sensitivities for constrained function minimization and obtain the optimum design. This proposed design strategy is fully automated and requires only an initial design to generate the optimum design. It does not require analysis code modifications to compute the design sensitivities and requires very few costly NASTRAN analyses. The connecting rod design problem was solved as an eight design variable problem with five constraints. A weight reduction of nearly 27 percent was achieved over an existing design and required only thirteen NASTRAN analyses. It is felt that this design strategy can be effectively used in an engineering environment to generate optimum designs of complicated three-dimensional components.

Singularity Analysis of Serial Robot-Manipulators

1996 ◽  
Vol 118 (4) ◽  
pp. 520-525 ◽  
Author(s):  
A. Karger
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Singularity Analysis ◽  
Singular Set ◽  
Singular Configurations ◽  
Special Cases ◽  
Serial Robot ◽  
Singular Configuration ◽  
Actual Configuration

This paper is devoted to the description of the set of all singular configurations of serial robot-manipulators. For 6 degrees of freedom serial robot-manipulators we have developed a theory which allows to describe higher order singularities. By using Lie algebra properties of the screw space we give an algorithm, which determines the degree of a singularity from the knowledge of the actual configuration of axes of the robot-manipulator only. The local shape of the singular set in a neighbourhood of a singular configuration can be determined as well. We also solve the problem of escapement from a singular configuration. For serial robot-manipulators with the number of degrees of freedom different from six we show that up to certain exceptions singular configurations can be avoided by a small change of the motion of the end-effector. We also give an algorithm which allows to determine equations of the singular set for any serial robot-manipulator. We discuss some special cases and give examples of singular sets including PUMA 560.

Three-dimensional optimum design of the cooling lines of injection moulds based on boundary element design sensitivity analysis

2002 ◽  
Vol 216 (7) ◽  
pp. 1067-1071 ◽  
Author(s):  
H Zhou ◽  
D Li ◽  
S Cui
Keyword(s):  
Sensitivity Analysis ◽  
Objective Function ◽  
Boundary Element ◽  
Optimum Design ◽  
Three Dimensional ◽  
Design Sensitivity ◽  
Boundary Integral ◽  
Optimization Techniques ◽  
Design Sensitivity Analysis ◽  
Design Variables

A three-dimensional numerical simulation using the boundary element method is proposed, which can predict the cavity temperature distributions in the cooling stage of injection moulding. Then, choosing the radii and positions of cooling lines as design variables, the boundary integral sensitivity formulations are deduced. For the optimum design of cooling lines, the squared difference between the objective temperature and the temperature of the cavity is taken as the objective function. Based on the optimization techniques with design sensitivity analysis, an iterative algorithm to reach the minimum value of the objective function is introduced, which leads to the optimum design of cooling lines at the same time.

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

2016 ◽  
Author(s):  
Stephen Mascaro
Keyword(s):  
Robot Control ◽  
Inverse Dynamics ◽  
Position Control ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Force Sensor ◽  
Control Techniques ◽  
Serial Robot

This paper describes a modular 2-DOF serial robot manipulator and accompanying experiments that have been developed to introduce students to the fundamentals of robot control. The robot is designed to be safe and simple to use, and to have just enough complexity (in terms of nonlinear dynamics) that it can be used to showcase and compare the performance of a variety of textbook robot control techniques including computed torque feedforward control, inverse dynamics control, robust sliding-mode control, and adaptive control. These various motion control schemes can be easily implemented in joint space or operational space using a MATLAB/Simulink real-time interface. By adding a simple 2-DOF force sensor to the end-effector, the robot can also be used to showcase a variety of force control techniques including impedance control, admittance control, and hybrid force/position control. The 2-DOF robots can also be used in pairs to demonstrate control architectures for multi-arm coordination and master/slave teleoperation. This paper will describe the 2-DOF robot and control hardware/software, illustrate the spectrum of robot control methods that can be implemented, and show sample results from these experiments.

Setpoint regulation of continuum robots using a fixed camera

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 581-586 ◽  
Author(s):  
V. K. Chitrakaran ◽  
A. Behal ◽  
D. M. Dawson ◽  
I. D. Walker
Keyword(s):  
Visual Information ◽  
Robot Manipulator ◽  
Three Dimensional ◽  
The Body ◽  
Reference Image ◽  
Shape Information ◽  
Continuum Robots ◽  
Continuum Robot ◽  
Dimensional Shape ◽  
Three Dimensional Shape

SUMMARYIn this paper, we investigate the problem of measuring the shape of a continuum robot manipulator using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four or more feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three-dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the manipulator end-effector to a constant desired position and orientation.

Robust contact force estimation for robot manipulators in three-dimensional space

2006 ◽  
Vol 220 (9) ◽  
pp. 1317-1327 ◽  
Author(s):  
J Jung ◽  
J Lee ◽  
K Huh
Keyword(s):  
Contact Force ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Contact Forces ◽  
Robust Estimator ◽  
Force Sensors ◽  
Force Estimation ◽  
Estimation Algorithms

Information on contact forces in robot manipulators is indispensable for fast and accurate force control. Instead of expensive force sensors, estimation algorithms for contact forces have been widely developed. However, it is not easy to obtain the accurate values due to uncertainties. In this article, a new robust estimator is proposed to estimate three-dimensional contact forces acting on a three-link robot manipulator. The estimator is based on the extended Kalman filter (EKF) structure combined with a Lyapunov-based adaptation law for estimating the contact force. In contrast to the conventional EKF the new estimator is designed such that it is robust to the deterministic uncertainties such as the modelling error and the sensing bias. The performance of the proposed estimator is evaluated through simulations of a robot manipulator and demonstrates robustness in estimating the contact force. The estimation results show that it can be potentially used to replace the expensive force sensors in robot applications.

Sign in / Sign up

Export Citation Format

Share Document