An optimum synthesis for gripping mechanisms by using natural coordinates

2002 ◽  
Vol 216 (6) ◽  
pp. 643-653 ◽  
Author(s):  
M Ceccarelli ◽  
J Cuadrado ◽  
D Dopico
Keyword(s):  
Design Problem ◽  
Optimization Design ◽  
Design Method ◽  
Design Procedure ◽  
Natural Coordinates ◽  
Dimensional Synthesis ◽  
Efficient Procedure ◽  
Optimum Synthesis ◽  
Practical Design ◽  
Design Requirements

In this paper a simple and efficient procedure for optimum dimensional synthesis of gripping mechanisms is presented. The proposed design method is based on a suitable formulation of grasping performance of gripping mechanisms and makes use of a description of mechanisms by means of natural (fully Cartesian) coordinates. The optimization design problem is formulated by an objective function describing the main grasping performance and constraints prescribing practical design requirements and mechanism peculiarities. A numerical example is reported and discussed to illustrate the engineering feasibility of the proposed design procedure.

Multi-objective optimal design based kineto-elastostatic performance for thedeltaparallel mechanism

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 258-273 ◽  
Author(s):  
Belkacem Bounab
Keyword(s):  
Performance Optimization ◽  
Design Problem ◽  
Design Method ◽  
Design Procedure ◽  
Parallel Robot ◽  
Simultaneous Optimization ◽  
Dimensional Synthesis ◽  
Multi Objective ◽  
Trade Offs ◽  
And Control

SUMMARYThis paper addresses the dimensional-synthesis-based kineto-elastostatic performance optimization of thedeltaparallel mechanism. For the manipulator studied here, the main consideration for the optimization criteria is to find the maximum regular workspace where the robotdeltamust posses high stiffness and dexterity. The dexterity is a kinetostatic quality measure that is related to joint's stiffness and control accuracy. In this study, we use the Castigliano's energetic theorem for modeling the elastostatic behavior of thedeltaparallel robot, which can be evaluated by the mechanism's response to external applied wrench under static equilibrium. In the proposed formulation of the design problem, global structure's stiffness and global dexterity are considered together for the simultaneous optimization. Therefore, we formulate the design problem as a multi-objective optimization one and, we use evolutionary genetic algorithms to find all possible trade-offs among multiple cost functions that conflict with each other. The proposed design procedure is developed through the implementation of thedeltarobot and, numerical results show the effectiveness of the proposed design method to enhancing kineto-elastostatic performance of the studied manipulator's structure.

scholarly journals A Two-Round Optimization Design Method for Aerostatic Spindles Considering the Fluid–Structure Interaction Effect

2021 ◽  
Vol 11 (7) ◽  
pp. 3017
Author(s):  
Qiang Gao ◽  
Siyu Gao ◽  
Lihua Lu ◽  
Min Zhu ◽  
Feihu Zhang
Keyword(s):  
Optimal Design ◽  
Optimization Design ◽  
Design Method ◽  
Fluid Structure Interaction ◽  
Design Procedure ◽  
Design Parameters ◽  
Geometrical Parameters ◽  
Fluid Structure ◽  
Structure Interaction ◽  
Aerostatic Spindle

The fluid–structure interaction (FSI) effect has a significant impact on the static and dynamic performance of aerostatic spindles, which should be fully considered when developing a new product. To enhance the overall performance of aerostatic spindles, a two-round optimization design method for aerostatic spindles considering the FSI effect is proposed in this article. An aerostatic spindle is optimized to elaborate the design procedure of the proposed method. In the first-round design, the geometrical parameters of the aerostatic bearing were optimized to improve its stiffness. Then, the key structural dimension of the aerostatic spindle is optimized in the second-round design to improve the natural frequency of the spindle. Finally, optimal design parameters are acquired and experimentally verified. This research guides the optimal design of aerostatic spindles considering the FSI effect.

AN INDEPENDENT ACTIVE BALANCER FOR PLANAR MECHANISMS

2007 ◽  
Vol 31 (2) ◽  
pp. 167-190 ◽  
Author(s):  
Zhang Ying ◽  
Yao Yan-An ◽  
Cha Jian-Zhong
Keyword(s):  
Working Conditions ◽  
Design Method ◽  
Design Procedure ◽  
Vibration Absorber ◽  
Planar Mechanisms ◽  
Dynamic Balancing ◽  
Joint Coupling ◽  
Design Requirements ◽  
Novel Concept ◽  
Two Degree Of Freedom

This paper proposed a novel concept of active balancer for dynamic balancing of planar mechanisms. Somewhat similar to a vibration absorber, the active balancer is designed as an independent device, which is placed outside of the mechanism to be balanced and can be installed easily. It consists of a two degree-of-freedom (DOF) linkage with two input shafts, one of which is connected to the output shaft of the mechanism to be balanced by a joint coupling, and the other one is driven by a controllable motor. Flexible dynamic balancing adapted to different working conditions can be achieved by varying speed trajectories of the control motor actively. A design method is developed for selecting suitable speed trajectories and link parameters of the two DOF linkage of the balancer to meet various design requirements and constraints. Numerical examples are given to demonstrate the design procedure and to verify the feasibility of the proposed concept.

scholarly journals Novel Robust Design Method of Multilayer Optical Coatings

ISRN Optics ◽  
2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Suyong Wu ◽  
Xingwu Long ◽  
Kaiyong Yang
Keyword(s):  
Robust Design ◽  
Optimization Design ◽  
Design Method ◽  
Analytical Calculation ◽  
Design Procedure ◽  
Deposition Process ◽  
Practical Significance ◽  
Optical Coatings ◽  
Optical Films ◽  
Robust Design Method

We present a novel fast robust design method of multilayer optical coatings. The sensitivity of optical films to production errors is controlled in the whole optimization design procedure. We derive an analytical calculation model for fast robust design of multilayer optical coatings. We demonstrate its effectiveness by successful application of the robust design method to a neutral beam splitter. It is showed that the novel robust design method owns an inherent fast computation characteristic and the designed film is insensitive to the monitoring thickness errors in deposition process. This method is especially of practical significance to improve the mass production yields and repetitive production of high-quality optical coatings.

GA-BASED DESIGN OF 2D STATE-SPACE DIGITAL FILTERS WITH LINEAR PHASE CHARACTERISTICS

2007 ◽  
Vol 16 (02) ◽  
pp. 287-303 ◽  
Author(s):  
SANG-CHURL NAM ◽  
MASAHIDE ABE ◽  
MASAYUKI KAWAMATA
Keyword(s):  
State Space ◽  
Design Problem ◽  
Digital Filters ◽  
Design Method ◽  
Design Procedure ◽  
Gray Code ◽  
Superior Performance ◽  
Magnitude Response ◽  
The Stability ◽  
Group Delays

This paper proposes a GA-based design method for two-dimensional (2D) state-space digital filters which satisfy simultaneously the magnitude response and constant group delays. The design problem of 2D state-space digital filters is formulated subject to the constraint that the resultant filters are stable. To apply the genetic algorithm to the design problem, all coefficients of 2D state-space digital filters are encoded into the Gray code representation demonstrating the superior performance to the standard binary one. In addition, a stability test routine is embedded in the design procedure in order to ensure the stability for the resultant filters. A numerical example is given to demonstrate the effectiveness of the proposed method.

Study on Design Method for Scale and Layout of Road Passenger Station

2012 ◽  
Vol 238 ◽  
pp. 231-235
Author(s):  
Zhi Cheng Li ◽  
Quan Xin Sun ◽  
Shun Bo Zhao
Keyword(s):  
Design Problem ◽  
Optimization Design ◽  
Programming Model ◽  
Design Method ◽  
Layout Design ◽  
The Road ◽  
Traditional Design ◽  
Scale Design ◽  
Optimum Volume ◽  
Passenger Station

On basis of summarizing the traditional design methods on road passenger station, this paper discusses the influence of road passenger station layout on scale design. Combined with the analysis of layout design method for road passenger station, a bi-level programming model is proposed taking into account the overall optimization design problem of the scale and the location of the road passenger station. Through a numerical example analysis, an optimized station layout plan and an optimum volume allocation of the station are given out.

Application of Intelligent Optimization Algorithm in Mechanical Design

2015 ◽  
Vol 713-715 ◽  
pp. 2049-2052
Author(s):  
Sha Sha Dou
Keyword(s):  
Design Theory ◽  
Optimization Design ◽  
Mechanical Design ◽  
Design Method ◽  
Computational Effort ◽  
Ant Algorithm ◽  
Design Problems ◽  
Intelligent Optimization Algorithm ◽  
Design Requirements ◽  
Mechanical Optimization

Mechanical optimization design is a new design method in the development foundation of the modern mechanical design theory, the application of optimization design in mechanical design can make the scheme achieve some optimization results in the design requirements specified, without consuming too much computational effort. The corresponding mathematical models of ant algorithm and Cellular ant algorithm are established, according to the actual mechanical design problems, and used to solve the established mathematical model by computer, so as to obtains the optimal design scheme.

scholarly journals Cavitator Design for Straight-Running Supercavitating Torpedoes

2021 ◽  
Vol 11 (14) ◽  
pp. 6247
Author(s):  
Min-Jae Kim ◽  
Seon-Hong Kim ◽  
Kurn-Chul Lee ◽  
Bu-Geun Paik ◽  
Moon-Chan Kim
Keyword(s):  
Mathematical Models ◽  
Design Method ◽  
Design Procedure ◽  
Hydrodynamic Forces ◽  
Small Scale ◽  
Total Drag ◽  
Level Flight ◽  
Supercavitating Vehicle ◽  
Maximum Range ◽  
Design Requirements

A practical cavitator design method for straight-running-type supercavitating torpedoes was developed in this paper. Design requirements were first drawn in terms of torpedo performance characteristics, such as maximum range and motion stability. This method determines the optimum cavitator satisfying the design requirements that not only minimize the total drag of the torpedo, extending the maximum range, but also provide hydrodynamic forces required for straight level flight. The design procedure includes determining a design cavitation number and cavitator type (disk or cone) for obtaining the optimal cavitator that minimizes the total drag of a torpedo in straight level flight. To determine such an optimal cavitator, the equations of force and moment equilibrium for straight level flight were iteratively solved by the existing mathematical models that determine the cavity shapes generated by disk- and cone-shaped cavitators and hydrodynamic forces acting on the vehicle. For validation, model experiments on a small-scale supercavitating vehicle were conducted in a towing tank, and the results agree well with those of the mathematical models used in this study. A preliminary design based on the newly proposed method was also implemented for a realistic supercavitating vehicle. More precise computations using CFD should be conducted to investigate the physics in more detail in the near future.

Integrated Design Methodology for High-Precision/Speed Servomechanisms

2005 ◽  
Vol 219 (8) ◽  
pp. 843-852 ◽  
Author(s):  
M-S Kim ◽  
S-C Chung
Keyword(s):  
High Precision ◽  
Design Method ◽  
Integrated Design ◽  
Design Procedure ◽  
Optimization Method ◽  
Design Variables ◽  
Mechanical Subsystem ◽  
Speed Performance ◽  
Parametric Studies ◽  
Design Requirements

An integrated design method for a high-precision/speed servomechanism including interactions of mechanical and electrical subsystems is proposed in this article. On the basis of the multiobjective optimization method, a non-linear optimal design procedure of the mechanical subsystem is performed simultaneously through the design process of the electrical subsystem satisfying the desired performance. Mechanical and electrical constraints have been formulated according to design requirements. Both mechanical and electrical parameters are considered as design variables. Validity of the integrated design problem is verified on the different application areas. Parametric studies of the design variables have also been conducted in this article. Case studies show that the integrated design method for an x-y positioning system satisfies the desired high-precision/speed performance.

Reliability Optimization Design of Spacecraft Valve Spring

2012 ◽  
Vol 538-541 ◽  
pp. 851-857
Author(s):  
Ye Lin ◽  
Wei Min Cui ◽  
Bi Feng Song
Keyword(s):  
Optimization Design ◽  
Design Method ◽  
Mathematic Model ◽  
Optimization Method ◽  
Reliability Optimization ◽  
Mechanical Reliability ◽  
Reliability Design ◽  
Valve Spring ◽  
Design Requirements ◽  
Mechanical Optimization

Firstly, methodology of valve spring’s static strength and fatigue strength reliability analysis is built up, and detailed computational formulas to derive distributions of the stress and strength are described. Secondly, to make full use of the material characteristic and consider reliability of the mechanism part, taking the spring’s mass as the objective function and based on spring’s traditional and reliability constraints, mathematic model of reliability optimization design of valve spring is established using mechanical reliability design method and mechanical optimization design method. At last, the proposed method is applied to a practical spring design example by integrating optimization tools with the optimization model. The comparison of reliability optimization design results and traditional optimization design results shows that the reliability optimization method is practical and reliable; its design results can satisfy all design requirements with smaller mass.

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