Construction and Layout of Coordinated Multirobots System Based on Parallel Thought
Aiming at the problems that are the construction and the layout optimization of the coordinated multirobots system, the concept of an equivalent parallel robot (EPR) is proposed based on parallel thought in this paper. That is, each robot is regarded as a branched chain of the EPR in coordination. T...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2019/9531387 |
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| _version_ | 1832545809509384192 |
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| author | Wanqiang Xi Yaoyao Wang Yadong Ding Bai Chen |
| author_facet | Wanqiang Xi Yaoyao Wang Yadong Ding Bai Chen |
| author_sort | Wanqiang Xi |
| collection | DOAJ |
| description | Aiming at the problems that are the construction and the layout optimization of the coordinated multirobots system, the concept of an equivalent parallel robot (EPR) is proposed based on parallel thought in this paper. That is, each robot is regarded as a branched chain of the EPR in coordination. Thus, it can be converted into the problem for the type synthesis and the layout of the parallel robot. Firstly, the definition of robotic characteristic (C) set and the corresponding operational rule are given. Then, the minimum occupied area, cycle time, and condition number are used as the optimized objectives. The weight ratio is used to express the importance of the three objectives to meet the requirements of different scenes. Afterwards, based on the theory of C set, the three translational (3T) operational requirements that can be extended to other degree of freedom (DOF) are analyzed. Finally, the feasibility of the proposed methods is verified by the DOF analysis and simulation experiment. Moreover, the multiobjective layout problem is optimized based on the artificial bee colony (ABC) algorithm. The results show that the constructed robot combinations and the layout optimization method are satisfactory. |
| format | Article |
| id | doaj-art-bb96701a8e5a4f4d84c9f72b8e085117 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-bb96701a8e5a4f4d84c9f72b8e0851172025-02-03T07:24:46ZengWileyJournal of Robotics1687-96001687-96192019-01-01201910.1155/2019/95313879531387Construction and Layout of Coordinated Multirobots System Based on Parallel ThoughtWanqiang Xi0Yaoyao Wang1Yadong Ding2Bai Chen3College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaAiming at the problems that are the construction and the layout optimization of the coordinated multirobots system, the concept of an equivalent parallel robot (EPR) is proposed based on parallel thought in this paper. That is, each robot is regarded as a branched chain of the EPR in coordination. Thus, it can be converted into the problem for the type synthesis and the layout of the parallel robot. Firstly, the definition of robotic characteristic (C) set and the corresponding operational rule are given. Then, the minimum occupied area, cycle time, and condition number are used as the optimized objectives. The weight ratio is used to express the importance of the three objectives to meet the requirements of different scenes. Afterwards, based on the theory of C set, the three translational (3T) operational requirements that can be extended to other degree of freedom (DOF) are analyzed. Finally, the feasibility of the proposed methods is verified by the DOF analysis and simulation experiment. Moreover, the multiobjective layout problem is optimized based on the artificial bee colony (ABC) algorithm. The results show that the constructed robot combinations and the layout optimization method are satisfactory.http://dx.doi.org/10.1155/2019/9531387 |
| spellingShingle | Wanqiang Xi Yaoyao Wang Yadong Ding Bai Chen Construction and Layout of Coordinated Multirobots System Based on Parallel Thought Journal of Robotics |
| title | Construction and Layout of Coordinated Multirobots System Based on Parallel Thought |
| title_full | Construction and Layout of Coordinated Multirobots System Based on Parallel Thought |
| title_fullStr | Construction and Layout of Coordinated Multirobots System Based on Parallel Thought |
| title_full_unstemmed | Construction and Layout of Coordinated Multirobots System Based on Parallel Thought |
| title_short | Construction and Layout of Coordinated Multirobots System Based on Parallel Thought |
| title_sort | construction and layout of coordinated multirobots system based on parallel thought |
| url | http://dx.doi.org/10.1155/2019/9531387 |
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