Optimal synthesis of planar mechanisms via an extensible-link approach |
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Authors: | Jean-François Collard Pierre Duysinx Paul Fisette |
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Affiliation: | 1. Centre for Research in Mechatronics, Université catholique de Louvain (UCL), Louvain-la-Neuve, Belgium 2. Department of Mechanics and Aerospace, Université de Liège (ULg), Liège, Belgium
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Abstract: | This paper presents a novel approach to optimize the design of planar mechanisms with revolute joints for function generation
or path synthesis. The proposed method is based on the use of an extensible-link mechanism model whose strain energy is minimized
to find the optimal rigid design. This enables us to get rid of assembly constraints and the use of natural coordinates makes
the objective function simpler. Two optimization strategies are developed and then discussed. The first one relies on alternate
optimizations of design parameters and point coordinates. The second one uses multiple partial syntheses as starting point
for a full synthesis process. The question of finding the global optimum is also addressed and developed. A simple algorithm
is proposed to find several local optima among which the designer may choose the best one taking other criteria into account
(e.g. stiffness, collision, size,...). Three applications are presented to illustrate the strategies while mentioning their
limits. |
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