Development of Kinematic/Kinetic Performance Tools in Synthesis of Multi-DOF Mechanisms

1993 ◽  
Vol 115 (3) ◽  
pp. 462-471 ◽  
Author(s):  
Ming-Yih Lee ◽  
A. G. Erdman ◽  
Y. Gutman
Keyword(s):  
Computer Aided Design ◽  
Graphical Representation ◽  
Jacobian Matrix ◽  
Efficiency Index ◽  
Performance Characteristics ◽  
Design Stage ◽  
Performance Indices ◽  
Coupling Index ◽  
Index Ratio ◽  
Aided Design

Kinematic and kinetic performance are important issues in designing multi-degree-of-freedom mechanisms such as robotic manipulators. In the engineering design stage, it is especially important that the designer can grasp the characteristics of the mechanism. The aim of this study is to develop a means of representing the kinematic and kinetic performance of the mechanism in such a way that the performance characteristics are quantified analytically and visible graphically to the designer in their entirety at the conceptual design stage. Various performance indices are derived from the Jacobian matrix and its quadratic form. These performance indices are the local kinematic cross-coupling index (angle of intersection between column vectors of the Jacobian), the local directional mobility index (ratio of Jacobian’s eigenvalues), and the local efficiency index (product of Jacobian’s eigenvalues). Graphical images of these performance characteristics using eigen-ellipsoid and workspace trajectory contours are introduced. Critical performance points in mechanism workspace are identified and elaborated for design considerations. Based on the graphical representation of these performance characteristics, design rules for achieving different performance objectives can easily be implemented. This method is applicable to computer-aided design of a mechanism and predetermination of its kinematic and kinetic performance.

Development of Kinematic/Kinetic Performance Tools in Synthesis of Multi-D.O.F. Mechanisms

1991 ◽  
Author(s):  
Ming-Yih Lee ◽  
Arthur G. Erdman ◽  
Yevsey Gutman
Keyword(s):  
Computer Aided Design ◽  
Graphical Representation ◽  
Jacobian Matrix ◽  
Robotic Manipulators ◽  
Efficiency Index ◽  
Performance Characteristics ◽  
Design Stage ◽  
Performance Indices ◽  
Coupling Index ◽  
Aided Design

Abstract Kinematic and kinetic performance are important issues in designing multi-degree of freedom mechanisms such as robotic manipulators. In the engineering design stage, it is especially important that the designer can grasp the characteristics of the mechanism. The aim of this study is to develop a means of representing the kinematic and kinetic performance of the mechanism in such a way that the performance characteristics are quantified analytically and visible graphically to the designer in their entirety in the conceptual design stage. Various performance indices derived from the Jacobian matrix and its quadratic form. These performance indices are the local kinematic cross-coupling index, the local directional mobility index, and the local efficiency index. Graphical images of these performance characteristics using eigen-ellipsoid and workspace trajectory contours are introduced. Critical performance points in mechanism workspace are identified and elaborated for design considerations. Based on the graphical representation of these performance characteristics, design rules for achieving different performance objectives can easily be implemented. This method is applicable to computer-aided design of a mechanism and predetermination of its kinematic and kinetic performance.

Applications of Kinematic/Kinetic Performance Tools in Synthesis of Multi-D.O.F. Mechanisms

1991 ◽  
Author(s):  
Ming-Yih Lee ◽  
Arthur G. Erdman ◽  
Yevsey Gutman
Keyword(s):  
Efficiency Index ◽  
Inner Product ◽  
Performance Indices ◽  
Kinematic Coupling ◽  
Evaluation Of Performance ◽  
Coupling Index ◽  
Closed Chain ◽  
Effectiveness And Efficiency ◽  
Index Ratio ◽  
Joint Range

Abstract Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian’s eigenvalues), and the local efficiency index (product of the Jacobian’s eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of proposed method. First, a two-link planar robotic manipulator is used to apply the the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

Comparison of Two Similar Mathematical Models for Tolerance Analysis: T-Map and Deviation Domain

2013 ◽  
Vol 135 (10) ◽  
Author(s):  
Mathieu Mansuy ◽  
Max Giordano ◽  
Joseph K. Davidson
Keyword(s):  
Computer Aided Design ◽  
Graphical Representation ◽  
Tolerance Analysis ◽  
Design Stage ◽  
Mathematical Tool ◽  
Resolution Method ◽  
Parallel Links ◽  
Similarities And Differences ◽  
Aided Design ◽  
The Impact

The major part of production cost of a manufacturing product is set during the design stage and especially by the tolerancing choice. Therefore, a lot of work involves trying to simulate the impact of these choices and provide an automatic optimization. For integrating this modeling in computer aided design (cad) software, the tolerancing must be modeled by a mathematical tool. Numerous models have been developed but few of them are really efficient. Two advanced models are “T-map” model developed by Joseph K. Davidson and “deviation domain” developed by Max Giordano. Despite the graphical representation of these two models seems to be similar, they have significant differences in their construction and their resolution method. These similarities and differences highlight the needs of tolerancing modeling tool in each kind of problems, especially in case of assembly with parallel links.

Applications of Kinematic/Kinetic Performance Tools in Synthesis of Multi-DOF Mechanisms

1994 ◽  
Vol 116 (2) ◽  
pp. 452-461 ◽  
Author(s):  
Ming-Yih Lee ◽  
A. G. Erdman ◽  
Y. Gutman
Keyword(s):  
Efficiency Index ◽  
Inner Product ◽  
Performance Indices ◽  
Kinematic Coupling ◽  
Evaluation Of Performance ◽  
Coupling Index ◽  
Closed Chain ◽  
Effectiveness And Efficiency ◽  
Index Ratio ◽  
Joint Range

Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian’s eigenvalues), and the local efficiency index (product of the Jacobian’s eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of the proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong ◽  
James Ritchie
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Workspace Analysis ◽  
Computer Aided ◽  
Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Highways Design Taking into Account Climatic Features in the Route Area

2021 ◽  
pp. 125-136
Author(s):  
Т. В. Самодурова ◽  
Н. Ю. Алимова ◽  
О. А. Волокитина ◽  
О. В. Гладышева
Keyword(s):  
Bearing Capacity ◽  
Computer Aided Design ◽  
Systematic Approach ◽  
Weather Conditions ◽  
Design Stage ◽  
Design System ◽  
Computer Aided ◽  
Calculation Methodology ◽  
Aided Design ◽  
Climatic Features

Постановка задачи. Для получения оптимальных проектных решений, удовлетворяющих условиям безопасности движения в сложных погодных условиях, необходимо сравнение вариантов автомобильных дорог по условиям снегонезаносимости. Такие расчеты должны стать составной частью системы автоматизированного проектирования САПР-АД. Результаты. Предложен системный поход к решению задачи, определен перечень информации, необходимой для проведения расчетов. Выполнен анализ результатов исследований по снегозаносимости дорог, проводимых в России и за рубежом. Предложены расчетные схемы и модели для оценки вариантов продольного профиля и земляного полотна автомобильной дороги по снегозаносимости. Предложены решения для оценки вариантов плана трассы с использованием карт с расчетными параметрами метелей. Выводы. Реализация предложенной методики проведения расчетов позволит на стадии проектирования оценить варианты автомобильной дороги по условиям снегозаносимости. Statement of the problem. In order to obtain optimal design solutions that meet the conditions of safety traffic in difficult weather conditions, it is necessary to compare the options of highways according to the snow tolerance conditions. Such calculations should become an integral part of the CAD-AD computer-aided design system. Results. A systematic approach to solving the problem is set forth, a list of information necessary for calculations is identified. The results analysis of studies on the snow-bearing capacity of roads conducted in Russia and abroad is carried out. Calculation schemes and models are suggested to evaluate options for the longitudinal profile and the roadbed for the snow-bearing capacity. Solutions for evaluating variants of the route plan using maps with calculated parameters of snowstorms are proposed. Conclusions. The implementation of the proposed calculation methodology will make it possible at the design stage to evaluate the options of the highway according to the conditions of the snow-bearing capacity.

scholarly journals Analog Circuit Design Automation Tool Using Genetic Algorithms

1970 ◽  
Vol 1 (1) ◽  
Author(s):  
Y. M. A. Khalifa ◽  
D. H. Horrocks
Keyword(s):  
Genetic Algorithms ◽  
Circuit Design ◽  
Analog Circuits ◽  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Analog Circuit ◽  
Search Space ◽  
Design Stage ◽  
Specific Frequency ◽  
Aided Design

An investigation into the application of Genetic Algorithms (GA) for the design of electronic analog circuits is presented in this paper. In this paper an investigation of the use of genetic algorithms into the problem of analog circuits design is presented. In a single design stage, circuits are produced that satisfy specific frequency response specifications using circuit structures that are unrestricted and with component values that are chosen from a set of preferred values. The extra degrees of freedom resulting from unbounded circuit structures create a huge search space. It is shown in this paper that Genetic Algorithms can be successfully used to search this space. The application chosen is a LC all pass ladder filter circuit design.Key Words: Computer-Aided Design, Analog Circuits, Artificial Intelligence.

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