Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F22%3A10250076" target="_blank" >RIV/61989100:27230/22:10250076 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/9805731" target="_blank" >https://ieeexplore.ieee.org/document/9805731</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ACCESS.2022.3186098" target="_blank" >10.1109/ACCESS.2022.3186098</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators

Popis výsledku v původním jazyce

This paper presents a set of algorithms for the synthesis of kinematic structures of serial manipulators using multiple constraint formulation and provides a performance comparison of different kinematic representations, the Denavit-Hartenberg notation, the Product of Exponentials (screws), and Roll-Pitch-Yaw angles with translation parameters. Synthesis is performed for five given tasks, and both revolute and prismatic joints can be synthesized. Two different non-linear programming optimization algorithms were used to support the findings. The results are compared and discussed. Data show that the choice of the constraint design method has a significant impact on the success rate of optimization convergence. The choice of representation has a lower impact on convergence, but there are differences in the optimization time and the length of the designed manipulators. Furthermore, the best results are obtained when multiple methodologies are used in combination. An arbitrary manipulator was designed and assembled based on a trajectory in the collision environment to demonstrate the advantages of the proposed methodology. The input/output data and synthesis methodology algorithms are provided through an open repository.

Název v anglickém jazyce

Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators

Popis výsledku anglicky

This paper presents a set of algorithms for the synthesis of kinematic structures of serial manipulators using multiple constraint formulation and provides a performance comparison of different kinematic representations, the Denavit-Hartenberg notation, the Product of Exponentials (screws), and Roll-Pitch-Yaw angles with translation parameters. Synthesis is performed for five given tasks, and both revolute and prismatic joints can be synthesized. Two different non-linear programming optimization algorithms were used to support the findings. The results are compared and discussed. Data show that the choice of the constraint design method has a significant impact on the success rate of optimization convergence. The choice of representation has a lower impact on convergence, but there are differences in the optimization time and the length of the designed manipulators. Furthermore, the best results are obtained when multiple methodologies are used in combination. An arbitrary manipulator was designed and assembled based on a trajectory in the collision environment to demonstrate the advantages of the proposed methodology. The input/output data and synthesis methodology algorithms are provided through an open repository.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Svazek periodika

10

Číslo periodika v rámci svazku

24 June 2022

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

15

Strana od-do

68937-68951

Kód UT WoS článku

000838374400001

EID výsledku v databázi Scopus

2-s2.0-85133696389