Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism

1992 ◽  
Author(s):  
Jichuan Zhang ◽  
Gongliang Guo ◽  
William A. Gruver
Keyword(s):  
Mathematical Model ◽  
Nonlinear Programming ◽  
Optimal Design ◽  
Transmission Efficiency ◽  
Degree Of Freedom ◽  
Optimal Parameters ◽  
Joint Friction ◽  
Robotic Devices ◽  
End Effectors ◽  
Human Finger

Abstract We treat the design of a three-jointed, anthropomorphic, finger mechanism for prostheses and robotic end-effectors. Based on the study of configurations for the human finger, we propose a six-bar linkage with one degree of freedom for the finger mechanism. A model of the fingertip displacement of the mechanism is derived by a vector analysis approach. We study the effects of joint friction on the transmission efficiency. By measuring the joint positions of a human finger, we develop a mathematical model of the pinching and holding configurations for the human finger. Optimal parameters for the finger mechanism are obtained by nonlinear programming based on motion posture, locus, transmission efficiency, and weight subject to geometric and bionic constraints. Simulations indicate that the mechanism is useful in a variety of prosthetic and robotic devices.

Optimal Design of a Six-Bar Linkage with One Degree of Freedom for an Anthropomorphic Three-Jointed Finger Mechanism

1993 ◽  
Vol 207 (3) ◽  
pp. 185-190 ◽  
Author(s):  
G Guo ◽  
J Zhang ◽  
W A Gruver
Keyword(s):  
Transmission Efficiency ◽  
Degree Of Freedom ◽  
Human Hand ◽  
Optimal Parameters ◽  
End Effector ◽  
Joint Friction ◽  
Non Linear Programming ◽  
Human Finger ◽  
Robotic Applications ◽  
Objective Functional

This research concerns the design of a three-jointed, anthropomorphic, finger mechanism for use as a prosthesis or robotic end-effector. Based on a study of finger configurations for the human hand, a six-bar linkage with one degree of freedom is proposed. A model of the fingertip displacement of the mechanism is derived by a vector analysis approach. The effects of joint friction on the transmission efficiency are analysed. By measuring the joint positions of a human finger, a mathematical model of the pinching and holding configurations are developed. Optimal parameters for the finger mechanism are obtained by non-linear programming based on an objective functional involving motion posture and locus, transmission efficiency and weight subject to geometric and bionic constraints. Simulation results indicate that the mechanism is useful for a variety of prosthetic and robotic applications.

Justification of design parameters of the fractional reaping conveyor and its devices for removal of beveled stems from under the wheels of the vehicle

2019 ◽  
Vol 1 (3) ◽  
pp. 1-10
Author(s):  
Mikhail M. Konstantinov ◽  
Ivan N. Glushkov ◽  
Sergey S. Pashinin ◽  
Igor I. Ognev ◽  
Tatyana V. Bedych
Keyword(s):  
Optimal Design ◽  
Technological Process ◽  
Design Parameters ◽  
Theoretical Studies ◽  
Optimal Parameters ◽  
Belt Conveyor ◽  
Grain Crops ◽  
Mode Of Operation ◽  
Optimal Values ◽  
Main Component

In this paper we consider the structural and technological process of the combine used in the process of separate harvesting of grain crops, as well as a number of its parameters. Among the main units of the combine, we allocate a conveyor and devices for removing beveled stems from under the wheels of the vehicle. The principle of operation of the conveyor at different phases of the Reaper and especially the removal of cut stems from under the wheels of the vehicle during operation of the Reaper. The results of theoretical studies on the establishment of the optimal design of the parameters of the belt conveyor are presented, the ranges of their optimal values are considered and determined. Studies on the establishment of optimal parameters of the screw divider in the Reaper, which is the main component of the device for removal of beveled stems, are presented. Taking into account the optimal design and mode of operation of the screw divider, the correct work is provided to remove the cut stems from under the wheels of the harvester.

Optimal design and mathematical model applied to establish bioassay programs

2006 ◽  
Vol 123 (4) ◽  
pp. 457-463 ◽  
Author(s):  
G. Sánchez ◽  
J. M. Rodríguez-Díaz
Keyword(s):  
Mathematical Model ◽  
Optimal Design

Multi-Object Multi-Discipline Probabilistic Design of High-Pressure Turbine Blade-Tip Radial Running Clearance

2013 ◽  
Vol 572 ◽  
pp. 551-554
Author(s):  
Wen Zhong Tang ◽  
Cheng Wei Fei ◽  
Guang Chen Bai
Keyword(s):  
Mathematical Model ◽  
High Pressure ◽  
Optimal Design ◽  
Mechanical System ◽  
High Accuracy ◽  
Probabilistic Design ◽  
High Pressure Turbine ◽  
Surface Method ◽  
Blade Tip ◽  
The Mathematical Model

For the probabilistic design of high-pressure turbine (HPT) blade-tip radial running clearance (BTRRC), a distributed collaborative response surface method (DCRSM) was proposed, and the mathematical model of DCRSM was established. From the BTRRC probabilistic design based on DCRSM, the static clearance δ=1.865 mm is demonstrated to be optimal for the BTRRC design considering aeroengine reliability and efficiency. Meanwhile, DCRSM is proved to be of high accuracy and efficiency in the BTRRC probabilistic design. The present study offers an effective way for HPT BTRRC dynamic probabilistic design and provides also a promising method for the further probabilistic optimal design of complex mechanical system.

Optimal Design of a 2-UPR-RPU Parallel Manipulator

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Feibo Wang ◽  
Qiaohong Chen ◽  
Qinchuan Li
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Design Space ◽  
Parameter Design ◽  
Optimal Parameters ◽  
Force Transmission ◽  
Universal Joint ◽  
Practical Applications ◽  
Optimum Region ◽  
Dimensional Optimization

This paper investigates dimensional optimization of a 2-UPR-RPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. Then, three indices developed from motion/force transmission are proposed to evaluate the performance of the 2-UPR-RPU parallel manipulator. Based on the performance atlases obtained, a set of optimal parameters are selected from the optimum region within the parameter design space. Finally, the optimized parameters are determined for practical applications.

scholarly journals Speeding-up the Fitting of the Model Defining the Ribs-bounded Contour

2017 ◽  
Vol 21 (1) ◽  
pp. 66-70
Author(s):  
Mykolas J. Bilinskas ◽  
Gintautas Dzemyda ◽  
Martynas Sabaliauskas
Keyword(s):  
Mathematical Model ◽  
Local Search ◽  
Computer Tomography ◽  
Vertical Axis ◽  
Newton Methods ◽  
Optimal Parameters ◽  
Analytical Derivatives ◽  
The Mathematical Model ◽  
Quasi Newton ◽  
Derivatives Of

Abstract The method for analysing transversal plane images from computer tomography scans is considered in the paper. This method allows not only approximating ribs-bounded contour but also evaluating patient rotation around the vertical axis during a scan. In this method, a mathematical model describing the ribs-bounded contour was created and the problem of approximation has been solved by finding the optimal parameters of the mathematical model using least-squares-type objective function. The local search has been per-formed using local descent by quasi-Newton methods. The benefits of analytical derivatives of the function are disclosed in the paper.

Relationship between the Steady-Handling Characteristics of Automobiles and Their Stability

1973 ◽  
Vol 15 (5) ◽  
pp. 326-328 ◽  
Author(s):  
R. S. Sharp
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Degree Of Freedom ◽  
Nonlinear Region ◽  
Handling Characteristics ◽  
Yield Information ◽  
Turning Motion ◽  
The Stability ◽  
Three Degree Of Freedom

Analyses of the steady-state handling behaviour of an automobile and the stability of its steady-turning motion, based on a three degree of freedom mathematical model, are used to show that the steady behaviour and the stability are related similarly in the nonlinear region as in the well documented linear one. It is concluded that analysis and measurement of the steady behaviour will yield information on the stability of automobiles.

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