Screw System Approach to Physical Realization of Stiffness Matrix With Arbitrary Rank

2009 ◽  
Vol 1 (2) ◽  
Author(s):  
Man Bok Hong ◽  
Yong Je Choi

It is possible to realize the desired compliance characteristics of a robot in a form of a passive compliance device, which demands the synthesis technique of a stiffness matrix by parallel connections of line and/or torsional springs. In this paper, the stiffness matrix is expressed in terms of the screw coordinates with respect to the basis consisting of its eigenvectors, thereby the synthesis equation is derived. Examination of the numbers of free design parameters involved in the synthesis suggests that a line or free vector for a spring can be freely selected from the induced wrench space depending on the rank of the stiffness matrix. The recursive synthesis method that allows one to select the positions or directions of the springs from the screw system spanned by the induced wrenches of the given stiffness matrix is proposed.

2019 ◽  
Vol 16 (31) ◽  
pp. 147-155
Author(s):  
Esmira A GULIYEVA ◽  
Zaur H GURBANOV ◽  
Yadigar A JABIYEV ◽  
Fikret SHEKILIYEV ◽  
Gulmamed Z SULEIMANOV ◽  
...  

The results of the development of synthesis technique of cyclocarbinol derivatives of cymantrene and the production of relevant barium cyclocarbinolate metal complexes – new, advanced anti-smoke additives were presented. Comparative data on the anti-smoke effectiveness of synthesized compounds and known antismoke additives for diesel fuels were also presented. Established, results of the development of a single-stage synthesis method of cyclocarbinol derivatives of cymantrene can be assumed as a basic process for producing high-effective anti-smoke additives to diesel fuels that comply with the requirements of ecology in operation of diesel vehicles.


Author(s):  
Satish Sundar ◽  
Zvi Shiller

Abstract A design method for selecting system parameters of multi-degree-of-freedom mechanisms for near minimum time motions along specified paths is presented. The time optimization problem is approximated by a simple curve fitting procedure that fits, what we call, the acceleration lines to the given path. The approximate cost function is explicit in the design parameters, facilitating the formulation of the design problem as a constrained optimization. Examples for optimizing the dimensions of a five-bar planar mechanism demonstrate close correlation between the approximate and the exact solutions and better computational efficiency than the previous unconstrained optimization methods.


Author(s):  
Y. S. Yang ◽  
B. S. Jang ◽  
Y. S. Song ◽  
Y. S. Yeon ◽  
S. H. Do

Abstract The Design Axioms proposed by N. P. Suh consist of Independence Axiom and Information Axiom. The Independence Axiom assists a designer in generating good design alternatives by considering the relations between the functions and the physical product using a hierarchical mapping procedure. The Information Axiom, which is related to the probability of achieving the given functional requirements, can be used as a criterion for the selection of the best solution among the proposed alternatives in the conceptual or preliminary design stage. In the early stages of marine design, especially ship design, there exists a lot of uncertainty because of the size and complexity of a marine vehicle. The uncertainty often leads to a probabilistic approach rather than a deterministic approach. The ship designs are mostly routine design to change an existing design case a little. In this paper, the availability of the Design Axioms in this marine design field will be investigated through three examples. In the conceptual design of a thruster, the Independence Axiom will be proven to be useful in examining the independence of functional requirements at each level of the decomposition process. In main engine selection example, the Information Axiom will be used for selecting the best solution among the given alternatives by estimating their respective information contents under the uncertain and ambiguous condition. In the structural design, some difficulties arise in maintaining the independence of functional requirements in general because the number of design parameters is greater than that of functional requirements. Therefore, there is much trouble in generalizing the application of the Design Axioms for the structural design, especially for the preliminary design where the principal design parameters of a design object have to be determined after its shape fixed. This paper will try a generalized approach to the similarity-based design where it is important to select which parameters should be changed and in what order they should be changed. How to make use of the Design Axioms will be showed in a barge design example. However, a lot of research is needed for the generalized application of the Design Axioms for the structural design.


Author(s):  
Ali E. Abbas ◽  
George A. Hazelrigg ◽  
Mahmood Alkindi

Within the context of a profit making firm, the job of a design engineer is to choose design parameters and product attributes that maximize the expected utility of profit. To do this effectively, the engineer needs to have an estimate of the demand for the product as a function of its price and its attributes. The firm may conduct a survey to elicit consumer preferences for the product at a given price and would like to update their belief about demand given the survey data. The purpose of this paper is to present a Bayesian methodology for demand estimation that meets this need. The estimation process begins with a prior probability distribution of demand at a given price. Using Bayesian analysis, we show how to update demand for the product given various pieces of information such as market analysis, polls and a variety of other methods. We also discuss situations where consumers can demand multiple units of the product at the given price.


Robotica ◽  
2004 ◽  
Vol 22 (5) ◽  
pp. 567-576 ◽  
Author(s):  
Giuseppe Carbone ◽  
Marco Ceccarelli

In this paper a hybrid parallel-serial manipulator, named as CaHyMan (Cassino Hybrid Manipulator), is analyzed in term of stiffness characteristics as a specific example of a general procedure for analyzing stiffness of parallel-serial manipulators. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness and design parameters of the mechanical design. A formulation is proposed for a stiffness performance index by using the obtained stiffness matrix. A numerical investigation has been carried out on the effects of design parameters and fundamental results are discussed in the paper.


2011 ◽  
Vol 3 (2) ◽  
pp. 56-63
Author(s):  
Rimantas Belevičius ◽  
Darius Mačiūnas ◽  
Dmitrij Šešok

The aim of the article is to report a technology for the optimization of grillage-type foundations seeking for the least possible reactive forces in the piles for a given number of piles and in the absolute value of the bending moments when connecting beams of the grillage. Mathematically, this seems to be the global optimization problem possessing a large number of local minima points. Both goals can be achieved choosing appropriate pile positions under connecting beams; however, these two problems contradict to each other and lead to diff erent schemes for pile placement. Therefore, we suggest using a compromise objective function (to be minimized) that consists of the largest reactive force arising in all piles and that occurring in the absolute value of the bending moment when connecting beams, both with the given weights. Bending moments are calculated at three points of each beam. The design parameters of the problem are positions of the piles. The feasible space of design parameters is determined by two constraints. First, during the optimization process, piles can move only along connecting beams. Therefore, the two-dimensional grillage is “unfolded” to the one-dimensional construct, and supports are allowed to range through this space freely. Second, the minimum allowable distance between two adjacent piles is introduced due to the specific capacities of a pile driver. Also, due to some considerations into the scheme of pile placement, the designer sometimes may introduce immovable supports (usually at the corners of the grillage) that do not participate in the optimization process and always retain their positions. However, such supports hinder to achieve a global solution to a problem and are not treated in this paper. The initial data for the problem are as follows: a geometrical scheme of the grillage, the given number of piles, a cross-section and material data on connecting beams, the minimum possible distance between adjacent supports and loading data given in the form of concentrated loads or trapezoidal distributed loadings. The results of the solution are the required positions of piles. This solution can serve as a pilot project for more detailed design. The entire optimization problem is solved in two steps. First, the grillage is transformed into the one-dimensional construct and the optimizer decides about a routine solution (i.e. the positions of piles in this construct). Second, backward transformation returns pile positions into the two-dimensional grillage and the “black-box” finite element program returns the corresponding objective function value. On the basis of this value, the optimizer predicts new positions of piles etc. The finite element program idealizes connecting beams as beam elements and piles – as mesh nodes of the finite element with a given boundary conditions in the form of vertical and rotational stiff ness. Since the problem may have several tens of design parameters, the only choice for optimization algorithms is using stochastic optimization algorithms. In our case, we use the original elitist real-number genetic algorithm and launch the program sufficient number of times in order to exclude large scattering of results. Three numerical examples are presented for the optimization of 10-pile grillage: when optimizing purely the largest reactive force, purely the largest in the absolute value of the bending moment and both parameters with equal weights.


Author(s):  
Gabriel Goldman ◽  
Dennis Hong

HyDRAS (Hyper-redundant Discrete Robotic Articulated Serpentine) is a novel serpentine robot comprising a serial chain of actuated universal joints for climbing structures such as poles or scaffoldings. To do so, it wraps its body around the structure in a helical shape, and rotates its body along its own central body axis to roll up the structure. This paper presents a method and considerations for selecting the optimal design parameters for the development of HyDRAS. The geometry equations derived in this paper will allow for a parametric approach that will aid in the selection of the appropriate design parameters such as module length, module diameter, helical pitch, and allowable range of motion for the given task of climbing pole like structures. Several examples are used to illustrate the method. The results obtained will be used in the analysis of the mechanical advantage of the mechanism and future research on the motion planning of HyDRAS.


Author(s):  
Ste´phane Caro ◽  
Fouad Bennis ◽  
Philippe Wenger

The paper aims at dimensioning a mechanism in order to make it robust, and synthesizing its dimensional tolerances. The design of a mechanism is supposed to be robust when its performance is as little as sensitive as possible to variations. First, a distinction is made between three sets to formulate a robust design problem; (i) the set of Design Variables (DV) whose nominal values can be selected between a range of upper and lower bounds, they are controllable; (ii) the set of Design Parameters (DP) that cannot be adjusted by the designer, they are uncontrollable; (iii) the set of performance functions. DV are however under uncontrollable variations although their nominal value can be adjusted. Moreover, two methods are described to solve robust design problems. The first method is explicit and solves problems that aim at minimizing variations in performance. The second method, an optimization problem, aims at optimizing the performance and minimizing its variations, but only when the ranges of variations in DV and DP are known. Besides, we define and compare some robustness indices. From the explicit method, we develop a new tolerance synthesis method. Finally, three examples are included to illustrate these methods: a damper, a two-dof and a three-dof serial positioning manipulator.


Author(s):  
Govindaraji Gnanasundaram ◽  
Srinath Setty ◽  
Lakshman Kasina ◽  
Raghavan Kotur

Flexible supports are used in many aero and automobile industrial applications. They transmit loads, accommodate misalignment, allow axial displacement, ensure no loss of lubricants, absorb shock and dampen vibration, withstand high temperatures, allow easy installation and disassembling. Flexible supports react on connected equipment components when subjected to misalignment and torque. The reaction forces and moments on components due to flexible supports should be within the allowable limits or otherwise it can cause failure of gears, shafts, bearings, and other equipment components. These flexible supports used in aero engine applications expected to meet design and manufacturing criteria. Flexible supports should have required stiffness values in different directions to meet rotor dynamic stability criteria. Flexible supports also required to meet strength and durability criteria for the given material at the required maximum operating temperature. The designed component should be producible and meet manufacturing limitations. The main objective of this paper is to optimize single and multiple convolutes types of flexible supports with in the manufacturing limits and in the given design space. A methodology is developed to optimize the components to meet required stiffness, strength and durability criteria. Parametric models of flexible support are developed in UNIGRAPHICS NX9. Design parameters such as overall length, convolute height, convolute radius and angle are considered for the optimization study. ANSYS Workbench is used for the analysis and optimization of flexible support.


Author(s):  
Vladimir Naduty ◽  
Anastasia Loginova ◽  
Vitaliy Sukharev

The article presents a new design of a vibrating twin-shaft centrifugal module designed for grinding and classification of rock mass. In this design, in addition to grinding, the operation of classification or screening of the crushed mass was added, which does not allow its regrinding and increases the productivity of the device. This is achieved by installing in the bottom of the chamber grinding mesh with cells in accordance with the required class size. At the same time, the classification process is intensified by the presence of vibration from vibration exciters fixed on the camera body and the installation of the camera on elastic supports. The reciprocating horizontal vibrations of the chamber with a given amplitude and frequency contribute to the segregation of the crushed rock mass in the bed by size, which positively affects the efficiency of classification and grinding. The presence of vibration helps to unload the oversize product from the grinding chamber. Also, the article considers experimental studies performed on a vibrational two-shaft centrifugal module to determine the dependence of the performance of a given design on five variable factors: rotor shaft revolutions (n, rpm), size of the loaded rock mass (Δ, mm), rock mass strength (σ, kg/mm2), camera vibration frequency (ω, rpm) and its vibration amplitude (A, mm). Studies have shown the efficiency and increased productivity of the new design in relation to a centrifugal disintegrator without a classification grid and vibration. The results of the work allow us to recommend the design under study for the manufacture of an experimental sample according to the given initial requirements, and the established dependences (Q = f (n, Δ, σ, ω, A) make it possible to develop a mathematical model of the grinding process in this setup to calculate the required parameters.


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