Değişken Bağlantı Nokta Sayısına Sahip Kablo Kontrollü Düzlemsel Bir Paralel Robot Mekanizmasının Geometrik Optimizasyonu

Öz

Bu çalışmada düzlemsel kablo kontrollü bir çizim robotu için geometrik optimizasyon yapan bir sistem önerilmiştir. Bu sistem, kullanıcıdan aldığı örnek bir resim için o resmin robot tarafından çizilebilmesini sağlayacak optimum geometrik tasarımı önermektedir. Sistem giriş olarak, örnek resim ve kablo kontrollü robot için istenilen köşe noktası sayısını almakta ve bu bilgileri kullanarak robot mekanizmasının kablo uzunluklarını ve kabloların kaleme bağlantı noktalarını optimize etmektedir. Optimizasyon aracı olarak Genetik Algoritma kullanılmıştır. Önerilen sistemin test edilmesi amacıyla iki farklı resim ve üç farklı köşe nokta sayısı için geometrik optimizasyon yapılmış ve elde edilen sonuçlar karşılaştırmalı olarak sunulmuştur.

Anahtar Kelimeler

• Kablo kontrollü robot
• Paralel robot
• düzlemsel çizim robotu
• optimizasyon
• genetik algoritma

Geometrical Optimization of a Planar Cable Controlled Parallel Robot Mechanism with Variable Connection Points

Öz

In this study, a geometric optimization system is proposed for a planar cable driven drawing robot. This system proposes the optimum geometric design that will enable the robot to draw a sample picture taken from the user. The system takes the sample picture and the desired number of corner points for the cable driven robot as input, and by using this information, it optimizes the cable lengths of the robot mechanism and the connection points of the cables to the pen. Genetic Algorithm was used as an optimization tool. In order to test the proposed system, geometric optimization has been made for two different pictures and three different corner point numbers and the results obtained are presented comparatively.

Anahtar Kelimeler

• cable driven robot
• parallel robot
• planar drawing robot
• optimization
• genetic algorithm.

Kaynakça

1. [1] MARTIN, Antoine; CARO, Stéphane; CARDOU, Philippe. Design of a cable-driven parallel robot with grasping device. Procedia Cirp, 2018, 70: 290-295.
2. [2] HAMIDA, Ines Ben, et al. Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks. Mechanism and Machine Theory, 2021, 156: 104141.
3. [3] ALBUS, James; BOSTELMAN, Roger; DAGALAKIS, Nicholas. The NIST SPIDER, a robot crane. Journal of research of the National Institute of Standards and Technology, 1992, 97.3: 373.
4. [4] TANG, Xiaoqiang. An overview of the development for cable-driven parallel manipulator. Advances in Mechanical Engineering, 2014, 6: 823028.
5. [5] PINTO, Andry Maykol, et al. A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning. Autonomous Robots, 2017, 41.7: 1487-1499.
6. [6] HASSAN, Mahir; KHAJEPOUR, Amir. Optimization of actuator forces in cable-based parallel manipulators using convex analysis. IEEE Transactions on Robotics, 2008, 24.3: 736-740.
7. [7] CUI, Xiang, et al. Design of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistance. IEEE/ASME Transactions on Mechatronics, 2016, 22.1: 161-172.
8. [8] MERLET, Jean-pierre; DANEY, David. A portable, modular parallel wire crane for rescue operations. In: 2010 IEEE International Conference on Robotics and Automation. IEEE, 2010. p. 2834-2839.

9. [9] DUAN, B. Y., et al. On design and experiment of the feed cable-suspended structure for super antenna. Mechatronics, 2009, 19.4: 503-509.
10. [10] Geng, Xinyu, Meng Li, Yufei Liu, Yuanyuan Li, Wei Zheng, and Zhibin Li. “Analytical Tension-Distribution Computation for Cable-Driven Parallel Robots Using Hypersphere Mapping Algorithm.” Mechanism & Machine Theory 145 (March 2020)
11. [11] Wang, Z., Wang, D., Chen, B., Yu, L., Qian, J., & Zi, B. (2019). A Clamping Force Estimation Method Based on a Joint Torque Disturbance Observer Using PSO-BPNN for Cable-Driven Surgical Robot End-Effectors. Sensors (Basel, Switzerland), 19(23).
12. [12] ZOU, Yupeng, et al. Design and optimization of movable cable-driven lower-limb rehabilitation robot. In: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2018. p. 714-719.
13. [13] BOLBOLI, Javad; KHOSRAVI, Mohammad A.; ABDOLLAHI, Farzaneh. Analysis of the stiffness feasible workspace of the cable-driven parallel robots. In: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2017. p. 45-50.
14. [14] ZOU, Yupeng, et al. Design and experimental research of movable cable-driven lower limb rehabilitation robot. IEEE Access, 2018, 7: 2315-2326.
15. [15] HONG, Huajie; ALI, Jabran; REN, Lei. A review on topological architecture and design methods of cable-driven mechanism. Advances in mechanical engineering, 2018, 10.5: 1687814018774186.
16. [16] ZHANG, Shan, et al. Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator. Advances in Mechanical Engineering, 2019, 11.4: 1687814019846289.
17. [17] SÜZEN, Ahmet Ali, et al. Arduino Kontrollü Çizim Robotu. Mehmet Akif Ersoy Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 2017, 8.Özel (Special) 1: 79-87.
18. [18] HAMORI, Akos; LENGYEL, Janos; RESKO, Barna. 3DOF drawing robot using LEGO-NXT. In: 2011 15th IEEE International Conference on Intelligent Engineering Systems. IEEE, 2011. p. 293-295.
19. [19] Goldberg DE. Genetic Algorithms in Search, Optimization and Machine Learning, Addison-Wesley, USA, 1989, 1-7.