A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexib...A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.展开更多
Optimization of design features of reinforced sheet is investigated. Initially, equations governing composite structures are extracted based on Kirchhoff sheet model under bending using Hamilton's principal. Then,...Optimization of design features of reinforced sheet is investigated. Initially, equations governing composite structures are extracted based on Kirchhoff sheet model under bending using Hamilton's principal. Then, design parameters for the composite structure are extracted with simple supportive boundary conditions from proposed solution. Next, optimization is achieved by determining dimensions of a reinforced sheet specimen. Weight optimization of reinforced sheet structure has been obtained based on variations in thickness and number of longitudinal and transverse reinforcements. Buckling static characteristic is utilized in optimization process. To solve the extracted equations, semi-analytical method of CS-DSG3 has been applied. Results are presented in graphs that show variation of design parameters by changing the geometric parameters. ABAQUS software has been used for design verification. The results show that an increase in thickness of 3 mm skip value tends to be zero. Also, there is a change in the amount of deflection for sheets with a minimum thickness of 3 mm by increasing the number of longitudinal and transverse reinforcement. There is a good agreement between the numerical method of finite elements and the method X-FEM-DSG3.展开更多
基金Project(2009AA04Z216) supported by the National High-Tech Research and Development Program (863 Program) of ChinaProject(2009ZX04013-011) supported by the National Science and Technology Major Project of ChinaProject supported by the HIT Oversea Talents Introduction Program,China
文摘A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.
文摘Optimization of design features of reinforced sheet is investigated. Initially, equations governing composite structures are extracted based on Kirchhoff sheet model under bending using Hamilton's principal. Then, design parameters for the composite structure are extracted with simple supportive boundary conditions from proposed solution. Next, optimization is achieved by determining dimensions of a reinforced sheet specimen. Weight optimization of reinforced sheet structure has been obtained based on variations in thickness and number of longitudinal and transverse reinforcements. Buckling static characteristic is utilized in optimization process. To solve the extracted equations, semi-analytical method of CS-DSG3 has been applied. Results are presented in graphs that show variation of design parameters by changing the geometric parameters. ABAQUS software has been used for design verification. The results show that an increase in thickness of 3 mm skip value tends to be zero. Also, there is a change in the amount of deflection for sheets with a minimum thickness of 3 mm by increasing the number of longitudinal and transverse reinforcement. There is a good agreement between the numerical method of finite elements and the method X-FEM-DSG3.
