In the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle avoidance, force transmission, or physical dimensions, to name a few. Many of these additional performance requirements are fully or partially independent of the kinematic task and can be fulfilled using a link-based optimization after the set of joint axes has been defined. This work presents a methodology to optimize the links of spatial mechanisms that have been synthesized for a kinematic task, so that additional requirements can be satisfied. It is based on considering the links as anchored to sliding points on the set of joint axes, and making the additional requirements a function of the location of the link relative to the two joints that it connects. The optimization of this function is performed using a hybrid algorithm, including a genetic algorithm (GA) and a gradient-based minimization solver. The combination of the kinematic synthesis together with the link optimization developed here allows the designer to interactively monitor, control, and adjust objectives and constraints, to yield practical solutions to realistic spatial mechanism design problems.
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December 2014
Research-Article
Link-Based Performance Optimization of Spatial Mechanisms
Ken W. Bosworth,
Ken W. Bosworth
Department of Mechanical Engineering,
Idaho State University
,Pocatello
, ID
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Alba Perez-Gracia
Alba Perez-Gracia
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Yimesker Yihun
Ken W. Bosworth
Department of Mechanical Engineering,
Idaho State University
,Pocatello
, ID
Alba Perez-Gracia
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received March 24, 2014; final manuscript received July 14, 2014; published online October 20, 2014. Assoc. Editor: Craig Lusk.
J. Mech. Des. Dec 2014, 136(12): 122303 (11 pages)
Published Online: October 20, 2014
Article history
Received:
March 24, 2014
Revision Received:
July 14, 2014
Citation
Yihun, Y., Bosworth, K. W., and Perez-Gracia, A. (October 20, 2014). "Link-Based Performance Optimization of Spatial Mechanisms." ASME. J. Mech. Des. December 2014; 136(12): 122303. https://doi.org/10.1115/1.4028304
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