Optimal Design of Robot Gripper Mechanism Using Force and Displacement Transmission Ratio

2014 ◽  
Vol 613 ◽  
pp. 117-125 ◽  
Author(s):  
Stanisław Krenich
Keyword(s):  
Optimal Design ◽  
Random Search ◽  
Optimization Procedure ◽  
Search Method ◽  
Transmission Ratio ◽  
Optimal Solutions ◽  
Force Transmission ◽  
Optimization Criteria ◽  
Robot Gripper ◽  
Gradient Based

The paper presents an approach to design optimization of robot gripper mechanism. There are two different optimization criteria, a force transmission ratio and a displacement transmission ratio, considered. In order to generate the optimal solutions, three algorithms are applied. There are gradient based method, random search method and evolutionary algorithm used. The results and a comparison with the industrial gripper, show possibility to improve parameters of the gripper mechanism using optimization procedure. They show as well, that conventional algorithms often fail during optimization process and the most suitable methods in this case are evolutionary algorithms.

An improved formulation for optimizing rocker-bogie suspension rover for climbing steps

2019 ◽  
Vol 233 (18) ◽  
pp. 6538-6558 ◽  
Author(s):  
Sam Noble ◽  
K Kurien Issac
Keyword(s):  
Nonlinear Programming ◽  
Optimal Design ◽  
Local Minimum ◽  
Single Step ◽  
Optimal Solutions ◽  
Performance Parameters ◽  
Smooth Functions ◽  
Gradient Based ◽  
Wheel Radius ◽  
Better Than

We address the problem of improving mobility of rovers with rocker-bogie suspension. Friction and torque requirements for climbing a single step were considered as performance parameters. The main contribution of the paper is an improved formulation for rover optimization using smooth functions, which enables use of powerful gradient based nonlinear programming (NLP) solvers for finding solutions. Our formulation does not have certain shortcomings present in some earlier formulations. We first formulate the problem of determining optimal torques to be applied to the wheels to minimize (a) friction requirement, and (b) torque requirement, and obtain demonstrably optimal solutions. We then formulate the problem of optimal design of the rover itself. Our solution for climbing a step of height two times the wheel radius is 13% better than that of the nominal rover. This solution is verified to be a local minimum by checking Karush–Kuhn–Tucker conditions. Optimal solutions were obtained for both forward and backward climbing. We show that some earlier formulations cannot obtain optimal solutions in certain situations. We also obtained optimal design for climbing steps of three different heights, with a friction requirement which is 15% lower than that of the nominal rover.

Improvement of engine performance using an optimization procedure

2007 ◽  
Vol 221 (8) ◽  
pp. 1001-1014 ◽  
Author(s):  
B Kegl ◽  
S Pehan ◽  
M Kegl
Keyword(s):  
Optimal Design ◽  
Data Exchange ◽  
Engine Performance ◽  
Optimization Procedure ◽  
Design Parameters ◽  
Analysis Software ◽  
Design Variables ◽  
Gradient Based ◽  
Data Files ◽  
Engine Power

This paper presents a simple and effective approach to improve engine performance of a racing car with special requirements. Attention is focused on optimal design of the intake system, using a gradient-based approximation method of mathematical programming. Since optimization relies on accurate numerical analysis of engine processes, the sub-models and parameters needed in the analysis software are carefully determined by experiment. Subsequently, the influence of different design parameters of intake and exhaust systems on engine performance is investigated numerically. The most influencing parameters are selected to be the design variables in the optimization process. In order to improve engine power at several engine speeds, two different forms of the optimal design problem are proposed, solved, and compared as a means to identify the most appropriate one. Since the analysis software is a black-box program, the optimization procedure is implemented by employing the optimization software as a master (driver) program while the analysis software acts as the slave program. The data exchange between these programs is established by XML data files and suitable wrapper programs. The results obtained confirm the usefulness of the approach presented.

Optimal Topography of Force Transmission by Flexure

1973 ◽  
Vol 40 (4) ◽  
pp. 983-987 ◽  
Author(s):  
G. I. N. Rozvany
Keyword(s):  
Optimal Design ◽  
Optimality Conditions ◽  
Maximum Strength ◽  
Loading Conditions ◽  
Optimal Solutions ◽  
Force Transmission ◽  
Comprehensive Description ◽  
Maximum Stiffness ◽  
General Rules ◽  
Wide Range

Optimality conditions for grillages of maximum strength and maximum stiffness and fiber-reinforced plates of maximum strength are discussed in the light of Prager’s theories of optimal design and a comprehensive description of the topographical properties of optimal solutions for clamped boundaries is given. General rules are derived for obtaining optimal solutions for a wide range of boundary and loading conditions.

Study on the Optimization of the Double-Layer Hybrid Vibration Isolation System Based on the LQR Algorithm

2013 ◽  
Vol 694-697 ◽  
pp. 329-333 ◽  
Author(s):  
Gui Feng Liu ◽  
Shu Long Zhang ◽  
Qian Xie ◽  
Jie Wu
Keyword(s):  
Optimal Design ◽  
Double Layer ◽  
Vibration Isolation ◽  
Transmission Ratio ◽  
Mechanical Equipment ◽  
Force Transmission ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Global Optimal ◽  
Lqr Algorithm

The LQR algorithm has been widely used in the hybrid vibration isolation system. However, it cannot make the hybrid vibration isolation system global optimal with the coupling of structure and controller. Hence, the multi-object optimal design of the double-layer hybrid vibration isolation system based on the LQR algorithm was made by the NCGA method. The results showed that the vibration of the mechanical equipment did not get worse with the reduction of the force transmission ratio, and it made an approach to the optimal design of the hybrid vibration isolation system.

Optimal Solutions for Nonhomogeneous Multiply-Connected Torsional Sections

1989 ◽  
Vol 111 (1) ◽  
pp. 87-93 ◽  
Author(s):  
A. Mioduchowski ◽  
M. G. Faulkner ◽  
B. Kim
Keyword(s):  
Numerical Simulation ◽  
Boundary Value Problem ◽  
Cross Section ◽  
Boundary Value ◽  
Optimization Procedure ◽  
Second Order ◽  
External Boundary ◽  
Optimal Solutions ◽  
Torsion Problem ◽  
Multiply Connected

Optimization of a second-order multiply-connected inhomogeneous boundary-value problem was considered in terms of elastic torsion. External boundary and material proportions are the applied constraints in finding optimal internal configurations of the cross section. The optimization procedure is based on the numerical simulation of the membrane analogy and the results obtained indicate that the procedure is usable as an engineering tool. Optimal solutions are obtained for some representative cases of the torsion problem and they are presented in the form of tables and figures.

scholarly journals Optimization Of Multi-Module CrN/CrCN Coatings

2015 ◽  
Vol 60 (2) ◽  
pp. 1037-1043
Author(s):  
Ł. Szparaga ◽  
P. Bartosik ◽  
A. Gilewicz ◽  
J. Ratajski
Keyword(s):  
Optimization Procedure ◽  
Stress And Strain ◽  
Pareto Optimal ◽  
Mutual Distance ◽  
Pareto Optimal Solutions ◽  
Optimal Solutions ◽  
Decision Criteria ◽  
Decision Variables ◽  
42Crmo4 Steel ◽  
The Stability

Abstract In the paper was proposed optimization procedure supporting the prototyping of the geometry of multi-module CrN/CrCN coatings, deposited on substrates from 42CrMo4 steel, in respect of mechanical properties. Adopted decision criteria were the functions of the state of internal stress and strain in the coating and substrate, caused by external mechanical loads. Using developed optimization procedure the set of optimal solutions (Pareto-optimal solutions) of coatings geometry parameters, due to the adopted decision criteria was obtained. For the purposes of analysis of obtained Pareto-optimal solutions, their mutual distance in the space of criteria and decision variables were calculated, which allowed to group solutions in the classes. Also analyzed the number of direct neighbors of Pareto-optimal solutions for the purposes of assessing the stability of solutions.

scholarly journals Effect of laparoscopic grasper force transmission ratio on grasp control

2008 ◽  
Vol 23 (4) ◽  
pp. 818-824 ◽  
Author(s):  
Eleonora P. Westebring-van der Putten ◽  
John J. van den Dobbelsteen ◽  
Richard H. M. Goossens ◽  
Jack J. Jakimowicz ◽  
Jenny Dankelman
Keyword(s):  
Transmission Ratio ◽  
Force Transmission ◽  
Laparoscopic Grasper
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