TY - JOUR
T1 - Optimal dynamic balancing of a hybrid serial-parallel robotic manipulator through bio-inspired computing
AU - Mejia-Rodriguez, Ricardo
AU - Villarreal-Cervantes, Miguel Gabriel
AU - Martínez-Castelán, Josué Nathán
AU - Muñoz-Reina, José Saúl
AU - Silva-García, Víctor Manuel
N1 - Publisher Copyright:
© 2021 The Authors
PY - 2022
Y1 - 2022
N2 - One of the most challenging robotic manipulator designs is finding an appropriate balance between the shaking force and shaking moment because this reduces vibrations. Several approaches have been introduced in the last decades; nevertheless, some assumptions must be established to make such a balance. In this paper, a dynamic balancing approach is proposed. The main novelty is the no dependence on specific trajectories to be executed by the manipulator, which allows finding a design with a similar tradeoff in the balancing under robot configuration changes. Also, the proposal incorporates mass distribution and link shape in a single design procedure. The proposal is stated as a constrained nonlinear optimization problem and applied to a hybrid serial-parallel robotic manipulator. The use of different bio-inspired algorithms and one gradient one in the solution of the balancing problem reveals that differential evolution finds the most suitable design. Besides, comparative simulation results of the obtained design with other design approaches show that the obtained design presents the most suitable tradeoff between the shaking force and the shaking moment when the manipulator executes tasks with different operating velocities.
AB - One of the most challenging robotic manipulator designs is finding an appropriate balance between the shaking force and shaking moment because this reduces vibrations. Several approaches have been introduced in the last decades; nevertheless, some assumptions must be established to make such a balance. In this paper, a dynamic balancing approach is proposed. The main novelty is the no dependence on specific trajectories to be executed by the manipulator, which allows finding a design with a similar tradeoff in the balancing under robot configuration changes. Also, the proposal incorporates mass distribution and link shape in a single design procedure. The proposal is stated as a constrained nonlinear optimization problem and applied to a hybrid serial-parallel robotic manipulator. The use of different bio-inspired algorithms and one gradient one in the solution of the balancing problem reveals that differential evolution finds the most suitable design. Besides, comparative simulation results of the obtained design with other design approaches show that the obtained design presents the most suitable tradeoff between the shaking force and the shaking moment when the manipulator executes tasks with different operating velocities.
KW - Bio-inspired computing
KW - Dynamic balancing
KW - Hybrid robotic manipulator
KW - Optimization
UR - http://www.scopus.com/inward/record.url?scp=85123610443&partnerID=8YFLogxK
U2 - 10.1016/j.jksues.2021.10.008
DO - 10.1016/j.jksues.2021.10.008
M3 - Artículo
AN - SCOPUS:85123610443
SN - 1018-3639
JO - Journal of King Saud University - Engineering Sciences
JF - Journal of King Saud University - Engineering Sciences
ER -