Kinematic analysis and design optimization of a cable-driven universal joint module

2009 ◽  
Author(s):  
W. B. Lim ◽  
S. H. Yeo ◽  
G. Yang ◽  
S. K. Mustafa
Keyword(s):  
Design Optimization ◽  
Kinematic Analysis ◽  
Universal Joint ◽  
Analysis And Design

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1463-1477 ◽  
Author(s):  
Houssem Saafi ◽  
Houssein Lamine
Keyword(s):  
Design Optimization ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Analysis And Design ◽  
Planar Parallel Manipulator ◽  
Forward Kinematic ◽  
Planar Parallel Manipulators

SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

scholarly journals An Arbitrary Hybrid Turbulence Modeling Approach for Efficient and Accurate Automotive Aerodynamic Analysis and Design Optimization

Fluids ◽  
2021 ◽  
Vol 6 (11) ◽  
pp. 407
Author(s):  
Saule Maulenkul ◽  
Kaiyrbek Yerzhanov ◽  
Azamat Kabidollayev ◽  
Bagdaulet Kamalov ◽  
Sagidolla Batay ◽  
...  
Keyword(s):  
Flow Field ◽  
Design Optimization ◽  
Automotive Industry ◽  
Turbulence Modeling ◽  
Turbulence Models ◽  
Analysis And Design ◽  
Eddy Simulation ◽  
Gradient Based ◽  
Automotive Aerodynamics ◽  
Single Flow

The demand in solving complex turbulent fluid flows has been growing rapidly in the automotive industry for the last decade as engineers strive to design better vehicles to improve drag coefficients, noise levels and drivability. This paper presents the implementation of an arbitrary hybrid turbulence modeling (AHTM) approach in OpenFOAM for the efficient simulation of common automotive aerodynamics with unsteady turbulent separated flows such as the Kelvin–Helmholtz effect, which can also be used as an efficient part of aerodynamic design optimization (ADO) tools. This AHTM approach is based on the concept of Very Large Eddy Simulation (VLES), which can arbitrarily combine RANS, URANS, LES and DNS turbulence models in a single flow field depending on the local mesh refinement. As a result, the design engineer can take advantage of this unique and highly flexible approach to tailor his grid according to his design and resolution requirements in different areas of the flow field over the car body without sacrificing accuracy and efficiency at the same time. This paper presents the details of the implementation and careful validation of the AHTM method using the standard benchmark case of the Ahmed body, in comparison with some other existing models, such as RANS, URANS, DES and LES, which shows VLES to be the most accurate among the five examined. Furthermore, the results of this study demonstrate that the AHTM approach has the flexibility, efficiency and accuracy to be integrated with ADO tools for engineering design in the automotive industry. The approach can also be used for the detailed study of highly complex turbulent phenomena such as the Kelvin–Helmholtz instability commonly found in automotive aerodynamics. Currently, the AHTM implementation is being integrated with the DAFoam for gradient-based multi-point ADO using an efficient adjoint solver based on a Sparse Nonlinear optimizer (SNOPT).

Inverse Kinematic Analysis of Three Link Mechanism for Fin Actuation of Fish Like Micro Device

2015 ◽  
Vol 24 ◽  
pp. 77-81 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Fazl E. Ahad ◽  
Anees Ur Rehman ◽  
Muhammad Hussain
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Design Verification ◽  
Simulation Tools ◽  
Analysis And Design ◽  
Link Mechanism ◽  
Inverse Kinematic Analysis ◽  
Verification Process ◽  
Process Computer ◽  
Functional Prototype

In this paper, inverse kinematic analysis of a proposed three link mechanism of a bio-inspired micro scanning device towed underwater by a surface vessel to actuate its aileron fins for its depth control and for its stabilization against roll is performed. Mechanism is actuated by IPMC actuators. To speed up the design verification process, computer aided simulations are used to perform motion analysis of the proposed IPMC actuated mechanism through Pro/Mechanism tool. Inverse kinematic analysis is performed to find out the joint variables of the mechanism to realize fin actuation along desired path. Displacements, velocities and accelerations of the links constructing mechanism are found out to establish their interrelationship. Results are analysed for the study of mechanism efficacy and for sizing the IPMC actuators. This paper contributes to introduce a new approach of virtual prototyping using advanced simulation tools for analysis and design verification of IPMC actuated mechanisms for biomimetic applications before moving into functional prototype stage.

Kinematic Analysis and Synthesis of Three-Input, Eight-Bar Mechanisms Driven by Relatively Small Cranks

1992 ◽  
Author(s):  
Kambiz Farhang ◽  
Partha Sarathi Basu
Keyword(s):  
Nonlinear Equations ◽  
Kinematic Analysis ◽  
Linear Equations ◽  
Output Link ◽  
Analysis And Design ◽  
Constraint Equations ◽  
Analysis And Synthesis ◽  
The Mean ◽  
Approximate Equations

Abstract Approximate kinematic equations are developed for the analysis and design of three-input, eight-bar mechanisms driven by relatively small cranks. Application of a method in which an output link is presumed to be comprised of a mean and a perturbational motions, along with the vector loop approach facilitates the derivation of the approximate kinematic equations. The resulting constraint equations are, (i) in the form of a set of four nonlinear equations relating the mean link orientations, and (ii) a set of four linear equations in the unknown perturbations (output link motions). The latter set of equations is solved, symbolically, to obtain the output link motions. The approximate equations are shown to be effective in the synthesis of three-input, small-crank mechanisms.

Sign in / Sign up

Export Citation Format

Share Document