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.
Decision of optimum number of lobes for a stair climber with conjugate wheels by GIRISH MODAK, MANMOHAN BHOOMKAR Abstract: The paper puts forth detailed optimization procedure for number of lobes of an innovative Low Cost design of staircase climbing platform. Total new concept of specially designed wheels is already put forth by the same authors in their earlier paper. The said configuration uses Lobbed driving wheels with the shape of each lobe, conjugate with the profile of steps. There was an open choice to select number of lobes. Hence it was necessary to decide optimum number of lobes for the proposed design. Universal method of Design of Experiments is used for the said optimization and the results are presented in last section of this paper. Keywords: staircase climbing platform; lobbed wheels; conjugate profile; design of experiments.