Performance Analysis and Optimization of a 6-DOF Robotic Crusher
Considering the complexity of multidimension parameters and the mechanical performance of a 6-DOF robotic crusher, a multiobjective optimization function based on the transmission index and condition number is established. As an important operation in the screw theory, the reciprocal product between...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/8812427 |
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| _version_ | 1832547146699636736 |
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| author | Guoguang Li Boqiang Shi Ruiyue Liu Jie Gu |
| author_facet | Guoguang Li Boqiang Shi Ruiyue Liu Jie Gu |
| author_sort | Guoguang Li |
| collection | DOAJ |
| description | Considering the complexity of multidimension parameters and the mechanical performance of a 6-DOF robotic crusher, a multiobjective optimization function based on the transmission index and condition number is established. As an important operation in the screw theory, the reciprocal product between the transmission wrench screw of an actuator and the output twist screw of the mantle assembly is used to represent the instantaneous power. The expression of transmission index is derived according to the principle that constraint wrench screws apply no work to the mantle assembly. It can be used as a criterion to evaluate the transmission performance. Then, based on the Jacobian matrix, the equation of condition number is constructed which provides a criterion for evaluating kinematic accuracy. Finally, the workspace and singularity of the 6-DOF robotic crusher are analyzed to verify the rationality of the optimized variables. The results show that the optimized structure can completely crush the material in the workspace and effectively avoid singularity, which provides a basis for practical application. |
| format | Article |
| id | doaj-art-5418a71e24114e6bb16c8746e0138f83 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-5418a71e24114e6bb16c8746e0138f832025-02-03T06:45:52ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/88124278812427Performance Analysis and Optimization of a 6-DOF Robotic CrusherGuoguang Li0Boqiang Shi1Ruiyue Liu2Jie Gu3School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaBeijing Institute of Space Launch Technology, Beijing 100076, ChinaConsidering the complexity of multidimension parameters and the mechanical performance of a 6-DOF robotic crusher, a multiobjective optimization function based on the transmission index and condition number is established. As an important operation in the screw theory, the reciprocal product between the transmission wrench screw of an actuator and the output twist screw of the mantle assembly is used to represent the instantaneous power. The expression of transmission index is derived according to the principle that constraint wrench screws apply no work to the mantle assembly. It can be used as a criterion to evaluate the transmission performance. Then, based on the Jacobian matrix, the equation of condition number is constructed which provides a criterion for evaluating kinematic accuracy. Finally, the workspace and singularity of the 6-DOF robotic crusher are analyzed to verify the rationality of the optimized variables. The results show that the optimized structure can completely crush the material in the workspace and effectively avoid singularity, which provides a basis for practical application.http://dx.doi.org/10.1155/2020/8812427 |
| spellingShingle | Guoguang Li Boqiang Shi Ruiyue Liu Jie Gu Performance Analysis and Optimization of a 6-DOF Robotic Crusher Journal of Robotics |
| title | Performance Analysis and Optimization of a 6-DOF Robotic Crusher |
| title_full | Performance Analysis and Optimization of a 6-DOF Robotic Crusher |
| title_fullStr | Performance Analysis and Optimization of a 6-DOF Robotic Crusher |
| title_full_unstemmed | Performance Analysis and Optimization of a 6-DOF Robotic Crusher |
| title_short | Performance Analysis and Optimization of a 6-DOF Robotic Crusher |
| title_sort | performance analysis and optimization of a 6 dof robotic crusher |
| url | http://dx.doi.org/10.1155/2020/8812427 |
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