scholarly journals A unified design for lightweight robotic arms based on unified description of structure and drive trains

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771638 ◽  
Author(s):  
Haibin Yin ◽  
Shansheng Huang ◽  
Mingchang He ◽  
Junfeng Li
Keyword(s):  
Optimization Problem ◽  
Structure Optimization ◽  
The Finite Element Method ◽  
Major Objective ◽  
Robotic Arms ◽  
Design Variables ◽  
Drive Trains ◽  
Global Optimal ◽  
Unified Description ◽  
Unified Design

This article presents a unified design for lightweight robotic arms based on a unified description of structure and drive trains. In the unified design, the drive trains and structural dimensions are parameterized as design variables, and a major objective minimizes the total mass of robotic arms satisfying the constraint conditions and design criteria. To implement the optimization problem, a mapping relationship between mass and torque of drive trains is introduced as their power–density curves, which enable a unified description of structure and drive trains combining with the dynamics of robotic arms. In this implementation of unified design, there are two modules: structure optimization and drive trains design. The finite element method with nonlinear programming by quadratic Lagrange algorithm is adopted to implement the structure optimization. Moreover, the dynamic analysis in MSC ADAMS is achieved to design the drive trains of robotic arms. This method could uniformly evaluate all components of robotic arms in mass and continuously search the global optimal results. Finally, a design example on this unified design is compared with a referenced design to illustrate the validity and advantage of the proposed scheme.

Shape Optimization of Hydraulic Structures: an Example of an Optimum Design of a Fish Passage

10.29007/2k64 ◽  
2018 ◽  
Author(s):  
Pat Prodanovic ◽  
Cedric Goeury ◽  
Fabrice Zaoui ◽  
Riadh Ata ◽  
Jacques Fontaine ◽  
...  
Keyword(s):  
Numerical Model ◽  
Shape Optimization ◽  
Objective Function ◽  
Optimum Design ◽  
Optimization Problem ◽  
A Priori ◽  
Coupled System ◽  
Fish Passage ◽  
Hydraulic Structures ◽  
Design Variables

This paper presents a practical methodology developed for shape optimization studies of hydraulic structures using environmental numerical modelling codes. The methodology starts by defining the optimization problem and identifying relevant problem constraints. Design variables in shape optimization studies are configuration of structures (such as length or spacing of groins, orientation and layout of breakwaters, etc.) whose optimal orientation is not known a priori. The optimization problem is solved numerically by coupling an optimization algorithm to a numerical model. The coupled system is able to define, test and evaluate a multitude of new shapes, which are internally generated and then simulated using a numerical model. The developed methodology is tested using an example of an optimum design of a fish passage, where the design variables are the length and the position of slots. In this paper an objective function is defined where a target is specified and the numerical optimizer is asked to retrieve the target solution. Such a definition of the objective function is used to validate the developed tool chain. This work uses the numerical model TELEMAC- 2Dfrom the TELEMAC-MASCARET suite of numerical solvers for the solution of shallow water equations, coupled with various numerical optimization algorithms available in the literature.

Efficient Sensitivity Analysis for Multibody Dynamics Systems Using an Iterative Steps Method With Application in Topology Optimization

2011 ◽  
Author(s):  
Guang Dong ◽  
Zheng-Dong Ma ◽  
Gregory Hulbert ◽  
Noboru Kikuchi ◽  
Sudhakar Arepally ◽  
...  
Keyword(s):  
Sensitivity Analysis ◽  
Topology Optimization ◽  
Multibody Dynamics ◽  
Optimization Problem ◽  
Finite Difference Methods ◽  
Analysis Method ◽  
Topology Optimization Problem ◽  
Design Variables ◽  
Sensitivity Analysis Method ◽  
Rotational Motions

Efficient and reliable sensitivity analyses are critical for topology optimization, especially for multibody dynamics systems, because of the large number of design variables and the complexities and expense in solving the state equations. This research addresses a general and efficient sensitivity analysis method for topology optimization with design objectives associated with time dependent dynamics responses of multibody dynamics systems that include nonlinear geometric effects associated with large translational and rotational motions. An iterative sensitivity analysis relation is proposed, based on typical finite difference methods for the differential algebraic equations (DAEs). These iterative equations can be simplified for specific cases to obtain more efficient sensitivity analysis methods. Since finite difference methods are general and widely used, the iterative sensitivity analysis is also applicable to various numerical solution approaches. The proposed sensitivity analysis method is demonstrated using a truss structure topology optimization problem with consideration of the dynamic response including large translational and rotational motions. The topology optimization problem of the general truss structure is formulated using the SIMP (Simply Isotropic Material with Penalization) assumption for the design variables associated with each truss member. It is shown that the proposed iterative steps sensitivity analysis method is both reliable and efficient.

Engine Mount Optimization for Vibration Isolation in Motorcycles

2006 ◽  
Author(s):  
Sudhir Kaul ◽  
Anoop K. Dhingra ◽  
Timothy G. Hunter
Keyword(s):  
Optimization Problem ◽  
Vibration Isolation ◽  
Total Force ◽  
Engine Mounts ◽  
The Road ◽  
Design Variables ◽  
Swing Arm ◽  
Engine Mount ◽  
Six Degree Of Freedom

This paper presents a comprehensive model to capture the dynamics of a motorcycle system in order to evaluate the quality of vibration isolation. The two main structural components in the motorcycle assembly - the frame and the swing-arm - are modeled using reduced order finite element models; the power-train assembly is modeled as a six degree-of-freedom (DOF) rigid body connected to the frame through the engine mounts and to the swing-arm through a shaft assembly. The engine mounts are modeled as tri-axial spring-damper systems. Models of the front-end assembly as well as front and rear tires are also included in the overall model. The complete vehicle model is used to solve the engine mount optimization problem so as to minimize the total force transmitted to the frame while meeting packaging and other side constraints. The mount system parameters - stiffness, position and orientation vectors - are used as design variables for the optimization problem. The imposed loads include forces and moments due to engine imbalance as well as loads transmitted due to irregularities in the road surface through the tire patch.

Trajectory Optimization Applied to Space Rendezvous

2013 ◽  
Vol 756-759 ◽  
pp. 3466-3470
Author(s):  
Xu Min Song ◽  
Qi Lin
Keyword(s):  
Simulated Annealing ◽  
Optimization Model ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Optimization Method ◽  
Nonlinear Constraints ◽  
Design Variables ◽  
Adaptive Simulated Annealing ◽  
Simulation Results

The trajcetory plan problem of spece reandezvous mission was studied in this paper using nolinear optimization method. The optimization model was built based on the Hills equations. And by analysis property of the design variables, a transform was put forward , which eliminated the equation and nonlinear constraints as well as decreaseing the problem dimensions. The optimization problem was solved using Adaptive Simulated Annealing (ASA) method, and the rendezvous trajectory was designed.The method was validated by simulation results.

Bending Stiffener Design Through Structural Optimization

2009 ◽  
Author(s):  
Rafael Loureiro Tanaka ◽  
Lauro Massao Yamada da Silveira ◽  
Joa˜o Paulo Zi´lio Novaes ◽  
Eduardo Esterqui de Barros ◽  
Clo´vis de Arruda Martins
Keyword(s):  
Optimization Problem ◽  
Design Procedure ◽  
Complex Task ◽  
Load Case ◽  
Shear Forces ◽  
Design Variables ◽  
Curvilinear Coordinate ◽  
Regular Design ◽  
Curvature Deformation ◽  
Flexible Risers

Bending stiffeners are very important ancillary equipments of umbilicals or flexible risers, since they protect the lines from overbending. Their design however is a complex task, since many load cases must be taken into account; the structure itself has a section that is variable with curvilinear coordinate. To aid the designer in this task, optimization algorithms can be used to automate the search for the best design. In this work an optimization algorithm is applied to the design of the bending stiffener. First, a bending stiffener model is created, which is capable of simulating different load case conditions and provide, as output, results of interest such as maximum curvature, deformation along the stiffener, shear forces and so on. Then, a bending stiffener design procedure is written as an optimization problem and, for that, objective function, restrictions and design variables defined. Study cases were performed, comparing a regular design with its optimized counterpart, under varying conditions.

scholarly journals Nonlinear Steady-State Optimization of Large-Scale Gas Transmission Networks

Energies ◽  
2021 ◽  
Vol 14 (10) ◽  
pp. 2832
Author(s):  
Andrzej J. Osiadacz ◽  
Małgorzata Kwestarz
Keyword(s):  
Steady State ◽  
Large Scale ◽  
Optimization Problem ◽  
Operating Cost ◽  
Network Efficiency ◽  
Major Objective ◽  
Transmission Networks ◽  
Sqp Method ◽  
Gas Network ◽  
Compressor Power

The major optimization problem of the gas transmission system is to determine how to operate the compressors in a network to deliver a given flow within the pressure bounds while using minimum compressor power (minimum fuel consumption or maximum network efficiency). Minimization of fuel usage is a major objective to control gas transmission costs. This is one of the problems that has received most of the attention from both practitioners and researchers because of its economic impact. The article describes the algorithm of steady-state optimization of a high-pressure gas network of any structure that minimizes the operating cost of compressors. The developed algorithm uses the “sequential quadratic programming (SQP)” method. The tests carried out on the real network segment confirmed the correctness of the developed algorithm and, at the same time, proved its computational efficiency. Computational results obtained with the SQP method demonstrate the viability of this approach.

Frequency optimization of laminated functionally graded carbon nanotube reinforced composite quadrilateral plates using smoothed FEM and evolution algorithm

2017 ◽  
Vol 52 (14) ◽  
pp. 1971-1986 ◽  
Author(s):  
T Vo-Duy ◽  
T Truong-Thi ◽  
V Ho-Huu ◽  
T Nguyen-Thoi
Keyword(s):  
Carbon Nanotube ◽  
Optimization Problem ◽  
Volume Fraction ◽  
Differential Evolution Algorithm ◽  
Composite Plates ◽  
Functionally Graded ◽  
Optimization Approach ◽  
Reinforced Composite ◽  
Design Variables ◽  
Evolution Algorithm

The paper presents an efficient numerical optimization approach to deal with the optimization problem for maximizing the fundamental frequency of laminated functionally graded carbon nanotube-reinforced composite quadrilateral plates. The proposed approach is a combination of the cell-based smoothed discrete shear gap method (CS-DSG3) for analyzing the first natural frequency of the functionally graded carbon nanotube reinforced composite plates and a global optimization algorithm, namely adaptive elitist differential evolution algorithm (aeDE), for solving the optimization problem. The design variables are the carbon nanotube orientation in the layers and constrained in the range of integer numbers belonging to [−900 900]. Several numerical examples are presented to investigate optimum design of quadrilateral laminated functionally graded carbon nanotube reinforced composite plates with various parameters such as carbon nanotube distribution, carbon nanotube volume fraction, boundary condition and number of layers.

Adaptive Grouping Brain Storm Optimization for Multimodal Optimization Problems

2021 ◽  
Vol 12 (4) ◽  
pp. 81-100
Author(s):  
Yao Peng ◽  
Zepeng Shen ◽  
Shiqi Wang
Keyword(s):  
Optimization Problem ◽  
Optimization Problems ◽  
Optimal Algorithm ◽  
Peak Detection ◽  
Multimodal Optimization ◽  
Optimal Solutions ◽  
Grouping Strategy ◽  
Different Dimensions ◽  
Global Optimal ◽  
Localization Ability

Multimodal optimization problem exists in multiple global and many local optimal solutions. The difficulty of solving these problems is finding as many local optimal peaks as possible on the premise of ensuring global optimal precision. This article presents adaptive grouping brainstorm optimization (AGBSO) for solving these problems. In this article, adaptive grouping strategy is proposed for achieving adaptive grouping without providing any prior knowledge by users. For enhancing the diversity and accuracy of the optimal algorithm, elite reservation strategy is proposed to put central particles into an elite pool, and peak detection strategy is proposed to delete particles far from optimal peaks in the elite pool. Finally, this article uses testing functions with different dimensions to compare the convergence, accuracy, and diversity of AGBSO with BSO. Experiments verify that AGBSO has great localization ability for local optimal solutions while ensuring the accuracy of the global optimal solutions.

scholarly journals Design and multi-physics optimization of a novel magnetorheological damper with a variable resistance gap

2016 ◽  
Vol 231 (17) ◽  
pp. 3152-3168 ◽  
Author(s):  
Jiajia Zheng ◽  
Yancheng Li ◽  
Jiong Wang
Keyword(s):  
Optimization Problem ◽  
Dynamic Range ◽  
Mr Damper ◽  
Magnetorheological Damper ◽  
Voltage Source ◽  
Damping Force ◽  
Variable Resistance ◽  
Design Variables ◽  
Electromagnetic Coils ◽  
Vibration Performance

This paper presents the design and multi-physics optimization of a novel multi-coil magnetorheological (MR) damper with a variable resistance gap (VRG-MMD). Enabling four electromagnetic coils (EMs) with individual exciting currents, a simplified magnetic equivalent circuit was presented and the magnetic flux generated by each voltage source passing through each active gap was calculated as vector operations. To design the optimal geometry of the VRG-MMD, the multi-physics optimization problem including electromagnetics and fluid dynamics has been formulated as a multi-objective function with weighting ratios among total damping force, dynamic range, and inductive time constant. Based on the selected design variables (DVs), six cases with different weighting ratios were optimized using Bound Optimization BY Quadratic Approximation (BOBYQA) technique. Finally, the vibration performance of the optimal VRG-MMD subjected to sinusoidal and triangle displacement excitations was compared to that of the typical multi-coil MR damper.

A new design on drive trains for light weight robotic arms

2017 ◽  
pp. 259-272
Author(s):  
Haibin Yin ◽  
Mingchang He ◽  
Shansheng Huang ◽  
Junfeng Li
Keyword(s):  
Light Weight ◽  
Robotic Arms ◽  
Drive Trains
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