A New Optimization Method for Dynamic Design of Planar Linkage With Clearances at Joints—Optimizing the Mass Distribution of Links to Reduce the Change of Joint Forces

1999 ◽  
Vol 124 (1) ◽  
pp. 68-73 ◽  
Author(s):  
B. Feng ◽  
N. Morita ◽  
T. Torii

This paper presents a new optimization method for dynamic design of planar linkage with clearances at joints. The general consideration is to optimize the mass distribution of links to reduce the change of joint forces. The mass, the center position of mass and the moment of inertia the moving links are taken as the optimizing variables. The objective functions are taken as the changes of the amplitude and direction of the joint forces and they are minimized. The optimized result shows that the magnitude of joint force can be controlled hardly to change and the direction of joint force can be controlled to change smoothly with respect to the crank angle, although the clearances exist at the joints. The link shape can be formed with the optimized variables by using the small element superposing method (SESM) and a design example is given.

2004 ◽  
Vol 127 (3) ◽  
pp. 433-440 ◽  
Author(s):  
P. R. Ouyang ◽  
W. J. Zhang

Force balancing is a very important issue in mechanism design and has only recently been introduced to the design of robotic mechanisms. In this paper, a force balancing method called adjusting kinematic parameters (AKP) for robotic mechanisms or real-time controllable (RTC) mechanisms is proposed, as opposed to force balancing methods, e.g., the counterweights (CW) method. Both the working principle of the AKP method and the design equation with which to construct a force balanced mechanism are described in detail. A particular implementation of the AKP method for the RTC mechanisms where two pivots on a link are adjustable is presented. A comparison of the two methods, namely the AKP method and the CW method, is made for two RTC mechanisms with different mass distribution. The joint forces and torques are calculated for the trajectory tracking of the RTC mechanisms. The result shows that the AKP method is consistently better than the CW method in terms of the reduction of the joint forces and the torques in the servomotors, and the smoothing of the fluctuation of the joint force.


Author(s):  
R. J. Eggert ◽  
R. W. Mayne

Abstract Probabilistic optimization using the moment matching method and the simulation optimization method are discussed and compared to conventional deterministic optimization. A new approach based on successively approximating probability density functions, using recursive quadratic programming for the optimization process, is described. This approach incorporates the speed and robustness of analytical probability density functions and improves accuracy by considering simulation results. Theoretical considerations and an example problem illustrate the features of the approach. The paper closes with a discussion of an objective function formulation which includes the expected cost of design constraint failure.


2015 ◽  
Vol 713-715 ◽  
pp. 800-804 ◽  
Author(s):  
Gang Chen ◽  
Cong Wei ◽  
Qing Xuan Jia ◽  
Han Xu Sun ◽  
Bo Yang Yu

In this paper, a kind of multi-objective trajectory optimization method based on non-dominated sorting genetic algorithm II (NSGA-II) is proposed for free-floating space manipulator. The aim is to optimize the motion path of the space manipulator with joint angle constraints and joint velocity constraints. Firstly, the kinematics and dynamics model are built. Secondly, the 3-5-3 piecewise polynomial is selected as interpolation method for trajectory planning of joint space. Thirdly, three objective functions are established to simultaneously minimize execution time, energy consumption and jerk of the joints. At last, the objective functions are combined with the NSGA-II algorithm to get the Pareto optimal solution set. The effectiveness of the mentioned method is verified by simulations.


1975 ◽  
Vol 97 (2) ◽  
pp. 551-560 ◽  
Author(s):  
Cemil Bagci

Analysis of response of determinate plane mechanisms to known driving input force, or input torque, via the joint force analysis is presented. Coulomb damping and viscous damping forces in the pair bearings are included. Equations of dynamic equilibrium are solved for the components of the normal joint forces and for the motion of the mechanism as initial-value problems. The rotation of the resultant joint force, due to the fact that the pair member on a link is the inner member or the outer member of the pair, is considered by defining a generalized Coulomb damping force. Links of the mechanisms are considered rigid. The plane 4R and slider-crank switch mechanisms are investigated. Explicit solutions and numerical examples are given.


SPE Journal ◽  
2021 ◽  
pp. 1-17
Author(s):  
Yixuan Wang ◽  
Faruk Alpak ◽  
Guohua Gao ◽  
Chaohui Chen ◽  
Jeroen Vink ◽  
...  

Summary Although it is possible to apply traditional optimization algorithms to determine the Pareto front of a multiobjective optimization problem, the computational cost is extremely high when the objective function evaluation requires solving a complex reservoir simulation problem and optimization cannot benefit from adjoint-based gradients. This paper proposes a novel workflow to solve bi-objective optimization problems using the distributed quasi-Newton (DQN) method, which is a well-parallelized and derivative-free optimization (DFO) method. Numerical tests confirm that the DQN method performs efficiently and robustly. The efficiency of the DQN optimizer stems from a distributed computing mechanism that effectively shares the available information discovered in prior iterations. Rather than performing multiple quasi-Newton optimization tasks in isolation, simulation results are shared among distinct DQN optimization tasks or threads. In this paper, the DQN method is applied to the optimization of a weighted average of two objectives, using different weighting factors for different optimization threads. In each iteration, the DQN optimizer generates an ensemble of search points (or simulation cases) in parallel, and a set of nondominated points is updated accordingly. Different DQN optimization threads, which use the same set of simulation results but different weighting factors in their objective functions, converge to different optima of the weighted average objective function. The nondominated points found in the last iteration form a set of Pareto-optimal solutions. Robustness as well as efficiency of the DQN optimizer originates from reliance on a large, shared set of intermediate search points. On the one hand, this set of searching points is (much) smaller than the combined sets needed if all optimizations with different weighting factors would be executed separately; on the other hand, the size of this set produces a high fault tolerance, which means even if some simulations fail at a given iteration, the DQN method’s distributed-parallelinformation-sharing protocol is designed and implemented such that the optimization process can still proceed to the next iteration. The proposed DQN optimization method is first validated on synthetic examples with analytical objective functions. Then, it is tested on well-location optimization (WLO) problems by maximizing the oil production and minimizing the water production. Furthermore, the proposed method is benchmarked against a bi-objective implementation of the mesh adaptive direct search (MADS) method, and the numerical results reinforce the auspicious computational attributes of DQN observed for the test problems. To the best of our knowledge, this is the first time that a well-parallelized and derivative-free DQN optimization method has been developed and tested on bi-objective optimization problems. The methodology proposed can help improve efficiency and robustness in solving complicated bi-objective optimization problems by taking advantage of model-based search algorithms with an effective information-sharing mechanism. NOTE: This paper is published as part of the 2021 SPE Reservoir Simulation Conference Special Issue.


Author(s):  
CHAOFANG HU ◽  
SHAOYUAN LI

This paper proposes an enhanced interactive satisfying optimization method based on goal programming for the multiple objective optimization problem with preemptive priorities. Based on the previous method, the approach presented makes the higher priority achieve the higher satisfying degree. For three fuzzy relations of the objective functions, the corresponding optimization models are proposed. Not only can satisfying results for all the objectives be acquired, but the preemptive priority requirement can also be simultaneously actualized. The balance between optimization and priorities is realized. We demonstrate the power of this proposed method by illustrative examples.


Water ◽  
2020 ◽  
Vol 12 (2) ◽  
pp. 455 ◽  
Author(s):  
Resham Dhakal ◽  
Jianxu Zhou ◽  
Sunit Palikhe ◽  
Khem Prasad Bhattarai

A surge tank effectively reduces water hammer but experiences water level oscillations during transient processes. A double chamber surge tank is used in high head plants with appreciable variations in reservoir water levels to limit the maximum amplitudes of oscillation by increasing the volume of the surge tank near the extremes of oscillation. Thus, the volume of the chambers and the design of an orifice are the most important factors for controlling the water level oscillations in a double chamber surge tank. Further, maximum/minimum water level in the surge tank and damping of surge waves have conflicting behaviors. Hence, a robust optimization method is required to find the optimum volume of chambers and the diameter of the orifice of the double chamber surge tank. In this paper, the maximum upsurge, the maximum downsurge, and the damping of surge waves are considered as the objective functions for optimization. The worst condition of upsurge and downsurge is determined through 1-D numerical simulation of the hydropower system by using method of characteristics (MOC). Moreover, the sensitivity of dimensions of a double chamber surge tank is studied to find their impact on objective functions; finally, the optimum dimensions of the double chamber surge tank are found using non-dominated sorting genetic algorithm II (NSGA-II) to control the water level oscillations in the surge tank under transient processes. The volume of the optimized double chamber surge tank is only 44.53% of the total volume of the simple surge tank, and it serves as an effective limiter of maximum amplitudes of oscillations. This study substantiates how an optimized double chamber surge tank can be used in high head plants with appreciable variations in reservoir water levels.


2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Jun Wu ◽  
Binbin Zhang ◽  
Liping Wang

The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.


Author(s):  
Dongkyu Sohn ◽  
◽  
Hiroyuki Hatakeyama ◽  
Shingo Mabu ◽  
Kotaro Hirasawa ◽  
...  

A novel optimization method named RasID-GA (an abbreviation of Adaptive Random Search with Intensification and Diversification combined with Genetic Algorithm) is proposed in order to enhance the searching ability of conventional RasID, which is a kind of Random Search with Intensification and Diversification. In this paper, the timing of switching from RasID to GA, or from GA to RasID is also studied. RasID-GA is compared with parallel RasIDs and GA using 23 different objective functions, and it turns out that RasID-GA performs well compared with other methods.


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