بهینه‌سازی موقعیت یک ربات لامسه‌ای افزونه برای افزایش ضریب میرایی مجازی قابل شبیه‌سازی با الگوریتم‌های فرا ابتکاری بر مبنای هوش جمعی

نوع مقاله : مقاله پژوهشی (کاربردی)

نویسندگان

1 استادیار، دانشکده مهندسی مکانیک، دانشگاه صنعتی سیرجان، سیرجان، ایران.

2 استادیار، دانشکده مهندسی مکانیک، دانشگاه صنعتی شیراز، شیراز، ایران.

3 کارشناسی ارشد، گروه ساخت و تولید، دانشکده مهندسی مکانیک، دانشگاه تربیت مدرس، تهران، ایران.

10.48301/kssa.2023.404933.2618

چکیده

در این مقاله از یک ربات لامسه­ای سه درجه آزادی برای شبیه­­سازی جسمی مجازی واقع بر نقطه­ای بر روی یک دیوار دو بعدی استفاده شده است. دو مؤلفۀ مکانی نقطه کاری روی دیوار دلخواه بوده و لذا این ربات دو درجه آزادی افزونه برای این کار خواهد داشت که توسط روش­های بهینه­سازی کلونی زنبور عسل مصنوعی و الگوریتم بهینه­سازی کلاغ به گونه­ای مشخص شده­اند تا ضمن تضمین پایداری ربات، ضریب میرایی جسم مجازی قابل شبیه­سازی نیز بیشینه شود. فرایند بهینه­سازی توسط هر روش در دو حالت مختلف انجام شده است. در حالت اول سفتی ربات در کل فضای کاری مقداری ثابت فرض شده و در حالت بعدی سفتی تابعی از پیکره­بندی ربات در نظر گرفته شده است. در هر حالت، ابتدا مقادیر جرم، ضریب میرایی مؤثر و سفتی مؤثر ربات به‌دست آمده و سپس از روابط تئوری مرز عملکرد پایدار ربات به‌دست می­آید. در نهایت روش­های بهینه‌سازی مذکور، محل نقطه کاری را به گونه­ای مشخص می­کنند که ضریب میرایی قابل شبیه­سازی بیشینه شود. نتایج نشان می­دهند که در حالت ثابت بودن سفتی ربات، هر دو روش مذکور توانایی شبیه‌سازی مقدار بیشینه 825/1 را برای ضریب میرایی مجازی داشتند. حال آن‌که در حالت متغیر بودن سفتی ربات، الگوریتم کلاغ و زنبور عسل به ترتیب به مقادیر 2502 و 2498 به عنوان بیشینۀ ضریب میرایی قابل شبیه­سازی رسیدند. همچنین با وجود آن‌که تعداد محاسبه تابع هزینه در هر دو روش یکسان است، اما الگوریتم بهینه­سازی کلاغ سریع­تر و تکرار پذیرتر است.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Position Optimization of a Redundant Haptic Device for Increasing the Simulating Virtual Damping Using Metaheuristic Methods based on Swarm Intelligence

نویسندگان [English]

  • Ahmad Mashayekhi 1
  • Abbas Karami 2
  • A;i Zeinolabedin Beygi 3
1 Assistant Professor, Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran
2 Assistant Professor, Department of Mechanical Engineering, Shiraz University of Technology, Shiraz, Iran
3 MSc graduate, Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran.
چکیده [English]

In the present research, a three-degree-of-freedom haptic device was used to simulate a virtual object located on a point on a two-dimensional wall. Two spatial coordinates of the operating point on the wall were arbitrary. Therefore, the robot would have two degrees of freedom redundancy for this task. These two degrees of robot redundancy were specified by the artificial bee colony optimization and crow optimization algorithm in such a way that while ensuring the stability of the robot, the damping coefficient of the simulated virtual object was also maximized. The optimization process was performed in two different ways. In the first case, the stiffness of the robot was assumed to be a constant value in the whole workspace, while in the second case, the stiffness was considered a function of the robot configuration. In each case and at each operating point, first an effective mass, an effective damping coefficient, and an effective stiffness for the robot were obtained, and then using some theoretical relations, a stable operation boundary was obtained. Finally, the optimization methods specify the location of the operating point in such a way that the simulated damping coefficient was maximized. The results show that in the case of constant robot stiffness, both of the mentioned methods were able to simulate the maximum value of 1.825 for the virtual damping coefficient. However, in the case of variable robot stiffness, the crow and bee algorithms reached the values of 2502 and 2498, respectively as the maximum damping coefficient that could be simulated. In addition, although the number of cost function calculations is the same in both methods, the crow optimization algorithm was faster and more repeatable.

کلیدواژه‌ها [English]

  • Haptic Device
  • Stability
  • Optimization
  • Artificial Bee Colony Optimization
  • Crew Optimization Algorithm
  • Redundancy

مراجع

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فصلنامه علمی کارافن
دوره 20، شماره 3
فنی و مهندسی
آذر 1402
صفحه 267-285

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سابقه مقاله

  • تاریخ دریافت: 11 تیر 1402
  • تاریخ بازنگری: 28 شهریور 1402
  • تاریخ پذیرش: 07 آبان 1402

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