Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed
As the key equipment of data acquisition in oil and gas exploration, the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency, but the structure rigidity is weak and the motion ability is poor, so the structure optimization and lightweight design are...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.010 |
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| author | Huang Zhiqiang Duan Yuxing Song Xiaowei Wang Jie Fu Mingwei Sun Haoxiang Li Gang |
| author_facet | Huang Zhiqiang Duan Yuxing Song Xiaowei Wang Jie Fu Mingwei Sun Haoxiang Li Gang |
| author_sort | Huang Zhiqiang |
| collection | DOAJ |
| description | As the key equipment of data acquisition in oil and gas exploration, the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency, but the structure rigidity is weak and the motion ability is poor, so the structure optimization and lightweight design are carried out to improve the structure rigidity and motion ability. Based on the screw theory, the forward kinematics equation of the manipulator with node placement is established, the global static stiffness index and the global velocity index considering the direction of the task are proposed, and the mathematical model of the size optimization of the node-placing manipulator is established. Based on the multi-objective particle swarm algorithm and the variable density method, the size optimization and lightweight design of the node-distributed manipulator arm are carried out. The results show that the overall static stiffness index and the overall velocity performance in the mission direction are improved by 19.8% and 8.8% respectively, and the lightweight design of the upper arm reduces the mass by 14.7%, which is beneficial to improve the response speed of the movement ability. The research results are of great significance for improving the accuracy and efficiency of oil and gas exploration. |
| format | Article |
| id | doaj-art-e81ed7866f3344ea8996ec238da8a462 |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e81ed7866f3344ea8996ec238da8a4622025-08-20T02:47:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-01-0148677448025752Optimization Design of Node Placement Manipulators Based on Working Area and Response SpeedHuang ZhiqiangDuan YuxingSong XiaoweiWang JieFu MingweiSun HaoxiangLi GangAs the key equipment of data acquisition in oil and gas exploration, the node can be replaced by a mechanical arm because of its long-term continuous work and high efficiency, but the structure rigidity is weak and the motion ability is poor, so the structure optimization and lightweight design are carried out to improve the structure rigidity and motion ability. Based on the screw theory, the forward kinematics equation of the manipulator with node placement is established, the global static stiffness index and the global velocity index considering the direction of the task are proposed, and the mathematical model of the size optimization of the node-placing manipulator is established. Based on the multi-objective particle swarm algorithm and the variable density method, the size optimization and lightweight design of the node-distributed manipulator arm are carried out. The results show that the overall static stiffness index and the overall velocity performance in the mission direction are improved by 19.8% and 8.8% respectively, and the lightweight design of the upper arm reduces the mass by 14.7%, which is beneficial to improve the response speed of the movement ability. The research results are of great significance for improving the accuracy and efficiency of oil and gas exploration.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.010Robotic armNodePerformance index analysisSize optimizationMulti-objective particle swarm algorithmLightweight design |
| spellingShingle | Huang Zhiqiang Duan Yuxing Song Xiaowei Wang Jie Fu Mingwei Sun Haoxiang Li Gang Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed Jixie chuandong Robotic arm Node Performance index analysis Size optimization Multi-objective particle swarm algorithm Lightweight design |
| title | Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed |
| title_full | Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed |
| title_fullStr | Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed |
| title_full_unstemmed | Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed |
| title_short | Optimization Design of Node Placement Manipulators Based on Working Area and Response Speed |
| title_sort | optimization design of node placement manipulators based on working area and response speed |
| topic | Robotic arm Node Performance index analysis Size optimization Multi-objective particle swarm algorithm Lightweight design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.010 |
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