MOTION PLANNING FOR 6-DOF ASSEMBLY PART POSITIONING AND ALIGNMENT ADJUSTMENT

2013 ◽  
Vol 37 (2) ◽  
pp. 161-183 ◽  
Author(s):  
Jun Hong ◽  
Shao F. Wang ◽  
Emenike Chukwuma ◽  
Jing H. Zhang ◽  
Zhi G. Liu
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Objective Function ◽  
Test Data ◽  
Parallel Mechanism ◽  
Minimum Energy ◽  
Planning Method ◽  
Minimum Energy Consumption ◽  
Redundantly Actuated

In this paper, a 4-PPPS redundantly actuated parallel mechanism and its motion planning method are proposed. The mechanism can be applied to the positioning and alignment of large subassembly in engineering assembly. The optimization of the positioning and alignment trajectory is performed with the minimum energy consumption as the objective function. The system test data shows that the assembly platform and the motion planning method can satisfy the requirements of accuracy, efficiency and stability of the positioning and alignment operations.

A Distribution Method of Driving Torque for A Novel 3UPS-RR Redundant Solar Tracker

2021 ◽  
pp. 1-15
Author(s):  
Hengchun Cui ◽  
Jun Wu ◽  
Qi Li
Keyword(s):  
Energy Consumption ◽  
Parallel Mechanism ◽  
Minimum Energy ◽  
Parallel Mechanisms ◽  
Distribution Method ◽  
Minimum Energy Consumption ◽  
Solar Tracker ◽  
The Difference ◽  
Singular Configuration ◽  
Driving Torque

Abstract This paper proposes a novel two-axis solar tracker with redundant parallel mechanism and investigates the distribution method of driving torque. In view of the difference between the singular configuration of the redundant parallel mechanisms and that of the corresponding non-redundant ones, an index related to the minimum singular value of Jacobian matrix is used to indicate the position of the singular configuration relative to the boundaries of the required workspace. The driving torque and energy consumption can be optimized with this index. Based on the fact that the direction of driving torque is opposite to that of rotor in most of the running processes, a distribution method of driving torque with the minimum energy consumption for redundant parallel solar tracker is proposed. The distribution method is compared with the minimum norm solution which is adopted by the conventional redundant parallel mechanism. And the energy consumption can be significantly reduced by adopting this method. In addition, the workspace and energy consumption of the redundant solar tracker and its non-redundant counterpart are compared. The results show that the redundant solar tracker has larger workspace and lower energy consumption.

scholarly journals Motion Planning of Ground Simulator for Space Instable Target Based on Energy Saving

Machines ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 368
Author(s):  
Xinlin Bai ◽  
Xiwen Li ◽  
Zhen Zhao ◽  
Mingyi Yang ◽  
Zhang Zhang ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Energy Saving ◽  
Planning Process ◽  
Minimum Energy ◽  
Robot Motion ◽  
Dijkstra Algorithm ◽  
Minimum Energy Consumption ◽  
Motion Simulator ◽  
Save Energy

In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing the energy consumption of the motion simulator, a robot motion planning method based on energy saving is proposed. Observable-based ground robot motion experiment system for SIT is designed and motion planning process is illustrated. Discrete optimization mathematical model of energy consumption of motion simulator is established. The general motion form of the robot joints in ground test is given. The optimal joint path of motion simulator based on energy consumption under discontinuous singularity configuration is solved by constructing the complete energy consumption directed path and Dijkstra algorithm. An improved method by adding the global optimization algorithm is used to decouple the coupled robot joints to obtain the minimum energy consumption path under the continuous singularity configuration of the motion simulator. Simulations are carried out to verify the proposed solution. The simulation data show that total energy saving of motion simulator joints adopting the proposed method under the condition of non-singularity configuration, joints coupled motion with continuous singularity configuration, and coexistence of non-singularity path and continuous singularity path are, respectively, 72.67%, 28.24%, and 62.23%, which proves that the proposed method can meet the requirements of ground motion simulation for SIT and effectively save energy.

EUCOR: An Efficient Unequal Clustering and Optimal Routing in wireless sensor networks for energy conservation

2021 ◽  
pp. 1-9
Author(s):  
C. Jothikumar ◽  
Revathi Venkataraman ◽  
T. Sai Raj ◽  
J. Selvin Paul Peter ◽  
T.Y.J. Nagamalleswari
Keyword(s):  
Objective Function ◽  
Physical Phenomenon ◽  
Minimum Energy ◽  
Cluster Head ◽  
Industrial Applications ◽  
Base Station ◽  
Wireless Sensor ◽  
Unequal Clustering ◽  
Minimum Energy Consumption ◽  
Variable Cluster

Wireless sensor network is a wide network that works as a cutting edge model in industrial applications. The sensor application is mostly used for high security systems that provide safety support to the environment. The sensor system senses the physical phenomenon, processes the input signal and communicates with the base station through its neighbors. Energy is the most important criterion to support a live network for long hours. In the proposed system, the EUCOR (Efficient Unequal Clustering and Optimized Routing) protocol uses the objective function to identify the efficient cluster head with variable cluster size. The computation of the objective function deals with the ant colony approach for minimum energy consumption and the varying size of the cluster in each cycle is calculated based on the competition radius. The system prolongs the lifespan of the nodes by minimizing the utilization of energy in the transmission of packets in the networks when compared with the existing system.

scholarly journals Optimization of Energy-Efficient Speed Profile for Electrified Vehicles

2018 ◽  
Author(s):  
Hadi Abbas ◽  
Youngki Kim ◽  
Jason B. Siegel ◽  
Denise M. Rizzo
Keyword(s):  
Energy Consumption ◽  
Energy Efficient ◽  
Minimum Energy ◽  
Efficient Operation ◽  
Operating Modes ◽  
Minimum Energy Consumption ◽  
System A ◽  
Trip Time ◽  
Route Information

This paper presents a study of energy-efficient operation of vehicles with electrified powertrains leveraging route information, such as road grades, to adjust the speed trajectory. First, Pontryagin’s Maximum Principle (PMP) is applied to derive necessary conditions and to determine the possible operating modes. The analysis shows that only 5 modes are required to achieve minimum energy consumption; full propulsion, cruising, coasting, full regeneration, and full regeneration with conventional braking. The minimum energy consumption problem is reformulated and solved in the distance domain using Dynamic Programming to optimize speed profiles. A case study is shown for a light weight military robot including road grades. For this system, a tradeoff between energy consumption and trip time was found. The optimal cycle uses 20% less energy for the same trip duration, or could reduce the travel time by 14% with the same energy consumption compared to the baseline operation.

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