A Pareto Front Mechanism Optimization for Controlling an Aircraft Using a Bio-Inspired Rotating Empennage

2021 ◽  
Author(s):  
David H. Myszka ◽  
James J. Joo ◽  
Andrew P. Murray
Keyword(s):  
Design Optimization ◽  
Mechanism Design ◽  
Degrees Of Freedom ◽  
Pareto Front ◽  
Main Axis ◽  
Efficient Operation ◽  
Mechanism Optimization ◽  
Conflicting Objectives ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

Abstract This paper presents a mechanism design optimization for actuating the horizontal stabilizers of an aircraft using a rotating empennage without a vertical stabilizer. Birds do not have vertical stabilizers and rotate their tail feathers to control agile maneuvers. A rotating empennage concept will mimic this motion and enable the bio-inspired flight of a fixed wing aircraft. To maintain control, the bio-inspired rotating empennage (BIRE) will incorporate three degrees of freedom: independent rotation of each horizontal stabilizer and rotation of the empennage relative to the main axis of the fuselage. The primary benefits of an aircraft without a vertical stabilizer is reduced drag and weight, which in turn results in more efficient operation. In order to reduce inertia of the rotating empennage, the linear actuators that position the horizontal stabilizers will be placed within the fuselage. Mechanisms that couple the linear translation of the actuators with the rotation of the horizontal stabilizers ideally require a low peak force and short stroke from the actuator. With two conflicting objectives, a Pareto front optimization was conducted to determine appropriate link lengths of candidate solutions and to understand the effectiveness of alternate mechanisms. The study considers a rack & pinon, scotch-yoke, slider-crank, inverted slider-crank, Watt, and Stephenson mechanisms.

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Samer Alfayad ◽  
Ahmad M. Tayba ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Research Work ◽  
Humanoid Robots ◽  
Kinematic Synthesis ◽  
Hybrid Mechanism ◽  
Generic Hybrid ◽  
Hybrid Mechanisms ◽  
Large Motion ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

This paper deals with a research work that aims to develop a new three degrees-of-freedom (DoF) hybrid mechanism for humanoid robotics application. The proposed hybrid mechanism can be used as a solution not only for several modules in humanoid robots but also for other legged robots such as quadrupeds and hexapods. Hip and shoulder mechanisms are taken as examples in this paper; torso and spine mechanisms, too, can be based on the proposed solutions. In this paper, a detailed analysis of the required performances of the hip and shoulder mechanisms is first carried out. Then, using a kinematic synthesis, a novel solution for the hip mechanism is proposed based on one rotary and two linear actuators. Improving this solution allows us to fulfill the requirements induced by the large motion ranges of the shoulder module, leading to a new management of the linear actuators contributions in the motion/force achievement process. Kinematic and geometrical models of a generic hybrid mechanism are achieved and used to get the optimized solutions of both hybrid mechanisms addressed in this paper.

300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot

2021 ◽  
Vol 33 (1) ◽  
pp. 141-150
Author(s):  
Takashi Kei Saito ◽  
Kento Onodera ◽  
Riku Seino ◽  
Takashi Okawa ◽  
Yasushi Saito ◽  
...  
Keyword(s):  
Mechanical Stress ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Structural Problems ◽  
Type K ◽  
Spatial Parallel Mechanism ◽  
Expansion Range ◽  
Class Power ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

We designed a new telescopic manipulator that uses a clustered elastic convex tape. The manipulator has an ultra-wide expansion range and toughness against mechanical stress. Compared to conventional linear actuators, our convex-type manipulators have high extension range and are very lightweight. Moreover, they are compact when rolled up. The telescopic manipulators designed in the previous study had insufficient output due to structural problems and were unstable. In this study, we report a Type-K telescopic manipulator mechanism (Makijaku-Ude Type-K), which is a redesigned manipulator that can be easily used with a 300-N class power, and applied the mechanism to a three degrees-of-freedom spatial parallel-mechanism robot.

Design and Development of a Free-Standing 4-DOF Infant Surgical Table

2009 ◽  
Author(s):  
Scott R. Siebler ◽  
Carl A. Nelson ◽  
Thomas Hejkal
Keyword(s):  
Degrees Of Freedom ◽  
Vertical Movement ◽  
Ball Screw ◽  
Free Standing ◽  
Full Size ◽  
Blood Vessel Development ◽  
Spherical Wrist ◽  
Linear Actuators ◽  
Vessel Development ◽  
Three Degrees Of Freedom

Retinopathy of prematurity is caused by abnormal blood vessel development in the retina of a premature infant. Current options for surgery tables used in laser treatment of this condition are limited. Full-size operating tables or table attachments are used but provide restricted patient manipulation and cause the surgeon to assume ergonomically undesirable positions. A stand-alone four-degree-of-freedom (4-DOF) infant surgical table was designed and is presented in this paper. The new table enables the surgeon to manipulate the patient while sitting in a comfortable position. The table platform can pitch left/right and fore/aft. The table platform can rotate 360° and translate vertically. Two linear actuators and a motor with ball screw provide the three degrees of freedom for table pitch and rotation through a spherical wrist-mechanism. A ball screw and motor achieve vertical movement of the table platform. The rigors of surgery and associated space constraints were accounted for in this design. The design consists of three subassemblies which can be disassembled for transport between operating theaters. A wide base is used to prevent the table from tipping. Biocompatible materials have been selected for all parts. Lastly, foot controls are used to keep the surgeon’s hands free.

Kinematics Modeling of a Family of Pure Translational 3-P^UR Parallel Linear Manipulators

2010 ◽  
Author(s):  
Giovanni Boschetti ◽  
Roberto Caracciolo ◽  
Alberto Trevisani
Keyword(s):  
Analytical Solutions ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Performance Indexes ◽  
Kinematics Modeling ◽  
Linear Actuators ◽  
And Performance ◽  
Three Degrees Of Freedom

This paper introduces a simplified kinematic model for a family of parallel linear manipulators with three degrees of freedom of pure translation. The P^UR topology of the limbs and the adjustable layout of the linear actuators are the main characteristics of such a family. The analytical solutions of the forward and inverse position and velocity kinematics are presented. Then the variations of the manipulator features in terms of workspace and performance indexes are investigated as functions of the actuators arrangement.

scholarly journals Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

2018 ◽  
Vol 51 (13) ◽  
pp. 372-377 ◽  
Author(s):  
Juan E. Andrade García ◽  
Alejandra Ferreira de Loza ◽  
Luis T. Aguilar ◽  
Ramón I. Verdés
Keyword(s):  
Disturbance Rejection ◽  
Degrees Of Freedom ◽  
Active Disturbance Rejection ◽  
Three Degrees Of Freedom

scholarly journals Hybrid Seven-bar Press Mechanism

2018 ◽  
Vol 12 (3) ◽  
pp. 181-187
Author(s):  
M. Erkan Kütük ◽  
L. Canan Dülger
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Design Optimization ◽  
Hybrid System ◽  
Degrees Of Freedom ◽  
Dimensional Synthesis ◽  
Design Variables ◽  
Optimization Study ◽  
Metal Stamping

An optimization study with kinetostatic analysis is performed on hybrid seven-bar press mechanism. This study is based on previous studies performed on planar hybrid seven-bar linkage. Dimensional synthesis is performed, and optimum link lengths for the mechanism are found. Optimization study is performed by using genetic algorithm (GA). Genetic Algorithm Toolbox is used with Optimization Toolbox in MATLAB®. The design variables and the constraints are used during design optimization. The objective function is determined and eight precision points are used. A seven-bar linkage system with two degrees of freedom is chosen as an example. Metal stamping operation with a dwell is taken as the case study. Having completed optimization, the kinetostatic analysis is performed. All forces on the links and the crank torques are calculated on the hybrid system with the optimized link lengths

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Soheil Zarkandi
Keyword(s):  
Power Consumption ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Pareto Front ◽  
Essential Role ◽  
Power Optimization ◽  
Optimal Designs ◽  
Flight Simulator ◽  
Lagrange Method

Abstract Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

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