Publication:
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

dc.contributor.authorKavala Şen, Deniz
dc.contributor.authorYıldız, Ahmet
dc.contributor.authorKopmaz, Osman
dc.contributor.buuauthorKavala Şen, Deniz
dc.contributor.buuauthorYILDIZ, AHMET
dc.contributor.buuauthorKOPMAZ, OSMAN
dc.contributor.departmentBursa Uludağ Üniversitesi/Mühendislik Fakültesi/Makina Mühendisliği Bölümü.
dc.contributor.orcid0000-0001-5434-4368
dc.contributor.orcid0000-0002-2429-8927
dc.contributor.researcheridT-8076-2018
dc.contributor.researcheridFVJ-8195-2022
dc.contributor.researcheridDAF-9103-2022
dc.date.accessioned2024-10-04T09:50:19Z
dc.date.available2024-10-04T09:50:19Z
dc.date.issued2022-11-01
dc.description.abstractIn this paper, a structural design and controller optimization process for a five-bar planar manipulator are studied using three different population-based optimization techniques: particle swarm optimization, genetic algorithm, and differential evolution. First, the desired kinematic properties of the manipulator, such as the position, velocity, and acceleration of the endpoint, are determined using inverse kinematics. Then, an optimization problem is created to minimize the shaking force and moments, and the desired kinematic quantities are implemented as constraints. All the link properties of the manipulator are defined as design variables, and the optimization results are obtained. The results show that it is possible to significantly reduce the shaking force and moment significantly thanks to the optimal design parameters. Finally, the controller is optimized to find the best PID gains considering the forward kinematics of the manipulator. It is observed that the shaking force and shaking moment can be reduced by 99% and 54%, respectively, which has a very positive effect on the accuracy of the trajectory tracking. Moreover, the performances of the optimization methods are compared by using the same number of iterations in the calculations, and thus, it can be seen that the GA method achieves the best results compared to the others. Therefore, the results of this study are of utmost importance for a manufacturer, who wants to design a five-bar planar manipulator and its controller.
dc.identifier.doi10.3390/machines10110971
dc.identifier.eissn2075-1702
dc.identifier.issue11
dc.identifier.urihttps://doi.org/10.3390/machines10110971
dc.identifier.urihttps://www.mdpi.com/2075-1702/10/11/971
dc.identifier.urihttps://hdl.handle.net/11452/45861
dc.identifier.volume10
dc.identifier.wos000881270400001
dc.indexed.wosWOS.SCI
dc.language.isoen
dc.publisherMdpi
dc.relation.journalMachines
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectParallel
dc.subjectOptimization
dc.subjectSingularity
dc.subjectLinkages
dc.subjectShaking moment
dc.subjectShaking force
dc.subjectOptimization
dc.subjectPid controller
dc.subjectTrajectory planning
dc.subjectEngineering
dc.titleOptimal 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
dc.typeArticle
dspace.entity.typePublication
relation.isAuthorOfPublicationdc2d95ee-2a80-48cf-b888-7c9a7b9fcd00
relation.isAuthorOfPublicatione61ebe55-a537-4321-a26b-b737d31d012d
relation.isAuthorOfPublication.latestForDiscoverydc2d95ee-2a80-48cf-b888-7c9a7b9fcd00

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