Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace
Round 1
Reviewer 1 Report
This paper presents a systematic work about the design and control of a Five-bar Planar Manipulator.
However, only simulation results have been presented. There is no prototype to show the structural design results, and also no comparison experiments on the prototype about the control effect. So, it is suggested to add this part to make the work and the results more convincing.
One minor suggestion, the main contribution or innovation should be further highlighted, and the research gap in this field also need to be disclosed clearly in the introduction. The readability and writting of this paper can be further improved.
Author Response
Firstly, thank you for your comments and hints.
Point 1: This paper presents a systematic work about the design and control of a Five-bar Planar Manipulator. However, only simulation results have been presented. There is no prototype to show the structural design results, and also no comparison experiments on the prototype about the control effect. So, it is suggested to add this part to make the work and the results more convincing.
Response 1:
Prototype implementation will be made in future studies. Thank you for this idea.
According to the current optimization results, the mechanism is designed with a CAD program. However, a design image has not been added in order not to deviate from the focus of the article.
Point 2: One minor suggestion, the main contribution or innovation should be further highlighted, and the research gap in this field also need to be disclosed clearly in the introduction. The readability and writing of this paper can be further improved.
Response 2:
With the arrangement made in the introduction, emphasis was placed on the main contribution and innovation aspects.
Reviewer 2 Report
Please view the attachment.
Comments for author File: 
Comments.pdf
Author Response
Thank you for your comments and hints.
Author Response File: Author Response.pdf
Reviewer 3 Report
The paper proposes a structural design and controller optimization process for a five-bar planar manipulator.The authors focused on three different population-based optimization techniques: Particle Swarm Optimization, Genetic Algorithm, and Differential Evolution.The equations and mathematical models presented in the paper seem to be correct. Overall the work is well structured and presented but there are some aspects that need to be mentioned.
Minor:
- line 68: there is a reason why the word "effective" is capitalized ?
-lines 92-99: I think the text does not respect the required format
- In Figures 2 and 3, for a better visibility, I think the colors used should be changed
-The labels in figure 4 are too small. Please increase them if possible
- Put the five-bar manipulator control into a broader context, mentioning other types of controllers (eg. adaptive, sliding mode, fuzzy )
Major:
The authors mention that the inverse kinematics for the five bar manipulator has four solutions. This involves four different configurations for the manipulator structure and also a number of singular positions within the workspace. Approaching these singular positions greatly influences the performance of the manipulator. Because the work proposes an optimal design for this manipulator, I think the authors should analyze them or at least mention them.
In my opinion the paper presented is valuable but needs some improvements before it can be published.
Author Response
Thank you for your comments and hints.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
The manuscript has been improved to some extent.
Reviewer 3 Report
The paper has been significantly improved since the last version and the authors sufficiently addressed all comments.
