Path Planning of a 3 DOF Servo-Hydraulic Mechanism Using Genetic Algorithm

Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering

مقاله 8، دوره 1، شماره 3، آذر 2008، صفحه 77-86   

نوع مقاله: Persian

نویسندگان

Farshid Agha Davoudi^{* 1}؛ Shahram Lenjan Nejadian²

¹Lecturer, Mechanical Engineering Faculty, Islamic Azad University, Khomeinishahr Branch.

²Assistant Professor, Isfahan University.

چکیده

The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as a fitness function during the mechanism motion between two specified points.

کلیدواژه‌ها

Path planning؛ Genetic Algorithm؛ Hydraulics؛ Servo Mechanism

مراجع

[1]        McCall J., Genetic algorithms for modeling and optimization, Journal of computational and applied mathematics, Vol. 184, 2005, pp. 205-222.

[2]        Holland J.H., Adaptation in natural and artificial systems, University of Michigan Press, 1975.

[3]        Smaili A., Atallah N., A three-dof robomech: architecture, optimum synthesis and introduction to compliant robomechs, Mechanism and machine theory, Vol. 40, 2005, pp. 1195-1206.

[4]        Clafiore G., Indri M., Bona B., Robot dynamic calibration: optimal excitation trajectories and experimental parameter estimation, Journal of robotic systems, Vol.18(2), 2001, pp.55-68.

[5]        Hu, Y., Yang S.X., A knowledge based genetic algorithm for path planning of a mobile robot, Proc. IEEE: International Conference on Robotics and Automation, New Orleans, LA,2004, pp. 4350-4355.

[6]        Sugihara K., J. Yuh, GA-Based Motion Planning for Underwater Robotic Vehicle, Int. Symposium on Unmanned Untethered Submersible Technology, 1997, pp. 406-416.

[7]        Sugihara K., Smith J., Genetic algorithms for adaptive motion planning of an autonomous mobile robot, Proc. 1997 IEEE Int'l Symp. on Computational Intelligence in Robotics and Automation (CIRA '97), Monterey, 1997,  pp.138—143.

[8]        Elshamli A., Abdullah H.A., Areibi S., Genetic algorithm for dynamic path planning, Canadian Conference on  Electrical and Computer Engineering, Vol. 2, 2004, pp. 677 - 680.

[9]        Park Y.J., Lee S.Y., A genetic algorithm-based fuzzy control of an electro-hydraulic finposition servo system, Fuzzy Systems Conference Proceedings, 1999.

[10]    Kaitwanidvilai S., Parnichkun M., Genetic-Algorithm-Based Fixed-Structure Robust H∞ Loop-Shaping Control of a Pneumatic Servosystem, Asian Institute of Technology, Thailand,2004.

[11]    Hashiyama T., Behrendt S., Furuhashi T., Uchikawa Y., Fuzzy controllers for semiactive suspension system generated through genetic algorithms, Intelligent Systems for the 21st Century IEEE International Conference on Systems, Man and Cybernetics, Vol. 5, 1995, pp.4361-6.

[12]    Scholz D., Proportional  hydraulics, Festo Didactic KG, 1995.

[13]    آقاداوودی ف. ، صدیق م.ج. ، بررسی رفتار غیر خطی سرومکانیزم هیدرولیکی، مجموعه مقالات دهمین کنفرانس سالانه (بین المللی) ‌مهندسی مکانیک، دانشگاه خواجه نصیر طوسی تهران، 1381.

[14]    Hsiang S.M., Chang C.C., McGorry R.W., Development of a set of equations describing joint trajectories during para-sagittal lifting,  Journal of biomechanics, Vol. 32(8), 1999, pp. 871-6.