Constraint-Handling Techniques for the Concurrent Design of a Five-Bar Parallel Robot

In this paper, a concurrent structure-control design is applied to a five-bar parallel robot in order to minimize the tracking error in a high-speed task. The high power necessary to perform the task leads to a challenging problem in handling a physical constraint on the maximum torque as well as on...

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Veröffentlicht in:IEEE access Jg. 5; S. 23010 - 23021
Hauptverfasser: Cervantes-Culebro, Hector, Cruz-Villar, Carlos A., Martinez Peñaloza, Maria-Guadalupe, Mezura-Montes, Efren
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.01.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Constraints
control-structure design
Design parameters
differential evolution
Energy consumption
Feasibility
Handling
Handling torque constraints
high-speed
Linear programming
Mechatronics
Optimization
Parallel robots
pick and place tasks
Ranking
Robots
Torque
Tracking errors
ISSN:2169-3536, 2169-3536
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Zusammenfassung:In this paper, a concurrent structure-control design is applied to a five-bar parallel robot in order to minimize the tracking error in a high-speed task. The high power necessary to perform the task leads to a challenging problem in handling a physical constraint on the maximum torque as well as on the structure-control design parameters. Three constraint-handling techniques, the feasibility rules, ε-constrained method and stochastic ranking have been used to analyze how the design changes as the torque constraint are reduced. Studying torque reduction is important from the energy consumption point of view, as well as the use of lighter and cheaper motors. In addition, a comparison among the three constraint-handling techniques is implemented so as to observe the performance and quality of the obtained results. The final results suggest that stochastic ranking method always obtains feasible and successful solutions in all proposed torque limits.
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ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2017.2764883