International Journal of Mechanisms and Robotic Systems
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International Journal of Mechanisms and Robotic Systems (3 papers in press)
Optimum Design of 3R Manipulator using Hybrid PSOGSA Algorithm by Sumanta Panda, Debadutta Mishra, Bibhuti Bhushan Biswal Abstract: Larger workspace volume is one of the most important objectives in the optimum design of robot manipulator. In the present study the workspace volume of a 3R manipulator has been maximized. The nonlinear constrained optimization problem has been solved using the Particle Swarm Optimization (PSO) and a hybrid PSO and Gravitational Search Algorithm (GSA). The proposed algorithm combines the search method of PSO and GSA with enhanced exploration ability to achieve higher workspace volume as compared to the established available results. Further the total void cross section area has been estimated and a quantitative analysis of the results has been made to identify the key influencing kinematic parameters and prioritize the constraints. Applications of the hybrid algorithm on two industrial manipulators are presented as case studies. An important implication of this article is that the proposed hybrid algorithm provides encouraging result in terms of objective function values and CPU time. Keywords: Manipulator; workspace; Particle swarm optimization; Gravitational search algorithm; CPU time.
Simulation of Repetitive Mechanisms using Modular Kinematics by P.A. Simionescu Abstract: Simulations of several repetitive mechanisms, some of them considered difficult to perform, have been done relatively easily using for loops and the MeKin2D modular-kinematics subroutines. These simulations include generation of multiple couple-curves, wicked-vane and aperture mechanisms, feathering paddlewheels, radial engines and a folding pop riveter. For the former two mechanisms, in addition to motion simulation, shaking-force and mechanical-advantage analyses have also been performed, respectively. For a better understanding of the computer implementations of these simulations, their source code is also provided an appendix to the paper. Keywords: Assur groups; modular kinematics; repetitive mechanisms; motion simulation.
Haar Wavelet Collocation Method for Solving the System of Linear Fredholm Integral Equations with Constant Coefficients by A. Padmanabha Reddy, C. Sateesha, Ather Aziz Raina, S.H. Manjula Abstract: In this paper, we propose different procedure to solve the problem of linear system of Fredholm integral equations with constant coefficients. The proposed method gives the rapidly convergent successive approximation to the analytic solution. The reliability and efficiency of the method are illustrated by investigating the convergence results for some problems. In fact, comparisons are made between the contributed scheme and the generated results. Keywords: Haar wavelets; system of Fredholm integral equations; collocation method. DOI: 10.1504/IJMRS.2020.10027624