Optimization, Control and Design of Parallel Robots

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Robotics, Mechatronics and Intelligent Machines".

Deadline for manuscript submissions: closed (15 March 2024) | Viewed by 10507

Special Issue Editors


E-Mail Website
Guest Editor
International Research Laboratory Intelligent Robotic Systems and Technologies, Belgorod State Technological University named after V.G. Shukhov, 308012 Belgorod, Russia
Interests: manipulators; parallel robots; robotics; mechanics; mobile robots

E-Mail Website
Guest Editor
Department of Mechanical, Energy and Management Engineering, Università della Calabria, 87036 Rende, Italy
Interests: robotics; robot design; mechatronics; walking hexapod; design procedure; mechanics of machinery; leg–wheel
Special Issues, Collections and Topics in MDPI journals

E-Mail Website
Guest Editor
Federal Research Center “Computer Science and Control”, Russian Academy of Sciences, 119333 Moscow, Russia
Interests: control systems; mobile robots; cybernetics and synthesis of automatic control; intelligent methods; evolutionary algorithms
Special Issues, Collections and Topics in MDPI journals

E-Mail Website
Guest Editor
Institute for Problems in Mechanics, Russian Academy of Sciences, 119333 Moscow, Russia
Interests: robotics; mechatronics; robotic systems; manipulation robots; mobile robots; dynamics

E-Mail Website
Guest Editor
Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101990 Moscow, Russia
Interests: robotics; robot motion planning; system dynamics modeling; mechatronics system; mechanism design

Special Issue Information

Dear Colleagues,

Parallel robots are widely used in various fields of industry, agriculture, high-precision engineering, medicine and other areas. Nevertheless, the design of parallel robots has a number of problems associated with the rational choice of geometric and design parameters and in achieving a compact design while meeting the requirements of controllability and workspace. An important aspect is also the planning and optimization of the trajectory of the end effector (working platform) due to the ambiguity of the forward kinematics solution.

The main objective of this Special Issue is to create a platform for scientists, engineers and practitioners to share their latest theoretical and experimental results, as well as to discuss several issues regarding research directions in the field of parallel robots. In this Special Issue, we hope to publish papers that provide recent results pertaining to the development of high-performance optimization and simulation methods for many robotics problems, including: optimization of geometric and design parameters, singularity analysis, workspace, planning trajectories within the required space, and optimization of design parameters based on the analysis of dynamic models. Developers and designers of parallel robots will be presented with methods for calculating the technical characteristics of robots, taking into account the requirements of controllability, safety and compact design. Articles containing results, both theoretical and experimental, relating to specific areas of robot application are especially welcome.

Prof. Dr. Larisa Rybak
Prof. Dr. Giuseppe Carbone
Prof. Dr. Askhat Diveev
Prof. Dr. Nikolai N. Bolotnik
Dr. Alexey Fomin
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • parallel robot
  • robotic platform
  • kinematics
  • machine learning
  • control
  • optimization
  • trajectory planning

Published Papers (4 papers)

Order results
Result details
Select all
Export citation of selected articles as:

Research

17 pages, 2557 KiB  
Article
Monitoring the State of the Operator of the Ergatic System in UAV Control Tasks
by Yaroslav Turovsky, Aleksandr Surovtsev, Viktor Alekseev and Larisa Rybak
Machines 2024, 12(5), 291; https://doi.org/10.3390/machines12050291 - 26 Apr 2024
Viewed by 531
Abstract
An important aspect of the application of unmanned systems is the reliability and safety of controlling these devices. An innovative approach has been proposed to improve the efficiency of the pilot operator and the reliability of the automated control system. It includes the [...] Read more.
An important aspect of the application of unmanned systems is the reliability and safety of controlling these devices. An innovative approach has been proposed to improve the efficiency of the pilot operator and the reliability of the automated control system. It includes the development of an algorithm for determining the pilot’s condition based on heart rate analysis. This algorithm helps to assess the condition of the pilot and his ability to control the drone. Another important element of the proposed approach is the algorithm for selecting the control mode of the automated control system for unmanned aerial vehicles, which takes into account information about the functional state of the pilot operator. This algorithm allows the system to automatically switch between different operating modes depending on the condition of the pilot, ensuring optimal control and minimizing the risks of human error. An integrated approach to improving the reliability of the unmanned aerial vehicle control system allows not only improving the work of the pilot operator, but also ensuring the safer and more efficient operation of automated systems. Full article
(This article belongs to the Special Issue Optimization, Control and Design of Parallel Robots)
Show Figures

Figure 1

28 pages, 11588 KiB  
Article
Optimal Design of Lower Limb Rehabilitation System Based on Parallel and Serial Mechanisms
by Dmitry Malyshev, Victoria Perevuznik and Marco Ceccarelli
Machines 2024, 12(2), 104; https://doi.org/10.3390/machines12020104 - 1 Feb 2024
Viewed by 967
Abstract
This paper presents the structure and model of a hybrid modular structure of a robotic system for lower limb rehabilitation. It is made of two modules identical in structure, including an active 3-PRRR manipulator for moving the patient’s foot and a passive orthosis [...] Read more.
This paper presents the structure and model of a hybrid modular structure of a robotic system for lower limb rehabilitation. It is made of two modules identical in structure, including an active 3-PRRR manipulator for moving the patient’s foot and a passive orthosis based on the RRR mechanism for supporting the lower limb. A mathematical model has been developed to describe the positions for the links of the active and passive mechanisms of two modules, as a function of the angles in the joints of the passive orthosis, considering constraints for attaching the active manipulators to the moving platform and their configurations. A method has been formulated for a parametric synthesis of the hybrid robotic system proposed with modular structure, taking into account the generated levels of parametric constraints depending on the ergonomic and manufacturability features. The proposed design is based on a criterion in the form of a convolution, including two components, one of which is based on minimizing unattainable points of the trajectory, considering the characteristics of anthropometric data, and the other is based on the compactness of the design. The results of the mathematical modeling are discussed as well as the analysis results towards a prototype validation. Full article
(This article belongs to the Special Issue Optimization, Control and Design of Parallel Robots)
Show Figures

Figure 1

18 pages, 1480 KiB  
Article
Optimization of a 6-DOF Platform for Simulators Based on an Analysis of Structural and Force Parameters
by Tatiana Duyun, Ivan Duyun, Petr Kabalyants and Larisa Rybak
Machines 2023, 11(8), 814; https://doi.org/10.3390/machines11080814 - 8 Aug 2023
Viewed by 1162
Abstract
Automotive driving simulators are widely used in driving schools and training centers, where they help students acquire the necessary skills without risk to life and health. This paper presents modern research in the field of creating a model and a real prototype of [...] Read more.
Automotive driving simulators are widely used in driving schools and training centers, where they help students acquire the necessary skills without risk to life and health. This paper presents modern research in the field of creating a model and a real prototype of an automotive driving simulator based on the Gough–Stewart platform. This investigation presents optimized geometric parameters using the PSO algorithm. Virtual prototypes of the robotic platform were created by MSC Adams. In turn, this made it possible to conduct the simulation of kinematic and dynamic parameters. They represent operating conditions when exposed to workloads. This paper shows a prototype of an automotive driving simulator and special equipment with an integrated system of virtual 3D models of real terrain. Full article
(This article belongs to the Special Issue Optimization, Control and Design of Parallel Robots)
Show Figures

Figure 1

26 pages, 2670 KiB  
Article
Designing and Implementing a Versatile Agricultural Robot: A Vehicle Manipulator System for Efficient Multitasking in Farming Operations
by Sandeep Kumar, Santhakumar Mohan and Valeria Skitova
Machines 2023, 11(8), 776; https://doi.org/10.3390/machines11080776 - 25 Jul 2023
Cited by 2 | Viewed by 6932
Abstract
This paper presents a detailed design of a skid-steering mobile platform with four wheels, along with a Cartesian serial (PPP) manipulator. The aim of this design is to enable the platform to perform various tasks in the agricultural process. The parallel manipulator designed [...] Read more.
This paper presents a detailed design of a skid-steering mobile platform with four wheels, along with a Cartesian serial (PPP) manipulator. The aim of this design is to enable the platform to perform various tasks in the agricultural process. The parallel manipulator designed can handle heavy materials in the agricultural field. An experimental robotic harvesting scenario was conducted using parallel manipulator-based end-effectors to handle heavy fruits such as watermelon or muskmelon. The conceptual and component design of the different models was carried out using the Solidworks modeling package. Design specifications and parametric values were utilized during the manufacturing stage. The mobile manipulator was simulated on undulating terrain profiles using ADAMS software. The simulation was analyzed for a duration of 15 s, and graphs depicting the distance, velocity, and acceleration were evaluated over time. Proportional derivative control and proportional derivative-like conventional sliding surface control were applied to the model, and the results were analyzed to assess the error in relation to the input and desired variables. Additionally, a structural analysis was performed to ensure minimal deformation and the highest safety factor for the wheel shaft and L bracket thickness. Throughout the fabrication and prototype development, calibration tests were conducted at various X-, Y-, and Z-axis frame mounting stages. The objective was to minimize the lateral and longitudinal deviation between the parallel linear motion (LM) rails. Once the fabrication and prototype construction was completed, field testing was carried out. All mechanical movements in the lateral and longitudinal directions functioned according to the desired commands given by the Arduino Mega, controlled via a six-channel radio frequency (RF) controller. In the context of agriculture, the grippers utilizing parallel mechanisms were also subjected to testing, demonstrating their ability to handle sizable cylindrical and spherical fruits or vegetables, as well as other relevant objects. Full article
(This article belongs to the Special Issue Optimization, Control and Design of Parallel Robots)
Show Figures

Figure 1

Back to TopTop