Construction and Layout of Coordinated Multirobots System Based on Parallel Thought
Joint Authors
Wang, Yaoyao
Chen, Bai
Xi, Wanqiang
Ding, Yadong
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-03
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Xi, Wanqiang& Wang, Yaoyao& Ding, Yadong& Chen, Bai. 2019. Construction and Layout of Coordinated Multirobots System Based on Parallel Thought. Journal of Robotics،Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1187005
Modern Language Association (MLA)
Xi, Wanqiang…[et al.]. Construction and Layout of Coordinated Multirobots System Based on Parallel Thought. Journal of Robotics No. 2019 (2019), pp.1-10.
https://search.emarefa.net/detail/BIM-1187005
American Medical Association (AMA)
Xi, Wanqiang& Wang, Yaoyao& Ding, Yadong& Chen, Bai. Construction and Layout of Coordinated Multirobots System Based on Parallel Thought. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1187005
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187005