On the Design of Spatial 4C Mechanisms for Rigid-Body Guidance Through 4 Positions

1995 ◽  
Author(s):  
Pierre M. Larochelle
Keyword(s):  
Rigid Body ◽  
Design Process ◽  
Design Procedure ◽  
Design Parameters ◽  
Two Dimensional ◽  
Dimensional Synthesis ◽  
Numerical Example ◽  
Cylindrical Joint ◽  
Free Parameters

Abstract This paper presents a procedure for determining the fixed and moving congruences associated with four finitely separated spatial positions. Furthermore, a methodology is derived for selecting the lines from the congruences which define the joint axes of a 4C mechanism. The result is a design procedure for performing the kinematic dimensional synthesis of spatial 4C mechanisms for four position rigid body guidance. Associated with four finitely separated positions in space are a fixed and a moving congruence. These congruences are a two dimensional set of lines, where each line defines the axis of a cylindrical joint that guides a body through the four prescribed positions. In order to uniquely determine a 4C mechanism from the congruences four free parameters must be specified. We present procedures for determining these free design parameters which result in mechanisms with joint axes that are nearest to some desired location. Moreover, included is a detailed numerical example illustrating the design process.

Quantification of Classical Gestalt Principles in Two-Dimensional Product Representations

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
José E. Lugo ◽  
James P. Schmiedeler ◽  
Stephen M. Batill ◽  
Laura Carlson
Keyword(s):  
Product Design ◽  
Design Process ◽  
Formal Method ◽  
Visual Design ◽  
Design Parameters ◽  
Two Dimensional ◽  
Mathematical Functions ◽  
Gestalt Principles ◽  
Visual Appearance

Gestalt principles have previously served as qualitative guidelines for good visual design in art, architecture, and product design. This paper introduces a formal method to quantify classical Gestalt principles (proximity, continuity, closure, symmetry, parallelism, and similarity) for two-dimensional product representations. With the approach, designers use their judgment to divide a 2D representation of a new concept or existing design into its key atomistic elements, identify the most appropriate Gestalt principles that apply to the grouping of those elements, and then can objectively quantify the design’s adherence to those principles using mathematical functions of the design parameters. This quantification provides a tool to augment a design team’s own subjective interpretations in evaluating and communicating a product’s visual appearance at any stage of or throughout the design process.

Dimensional Synthesis of Planar Eight-Bar Linkages Based on a Parallel Robot With a Prismatic Base Joint

2013 ◽  
Author(s):  
Gim Song Soh ◽  
Fangtian Ying
Keyword(s):  
Rigid Body ◽  
Design Process ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
End Effector ◽  
Prismatic Joint ◽  
Serial Chain ◽  
Different Types

This paper details the dimensional synthesis for the rigid body guidance of planar eight-bar linkages that could be driven by a prismatic joint at its base. We show how two RR cranks can be added to a planar parallel robot formed by a PRR and 3R serial chain to guide its end-effector through a set of five task poses. This procedure is useful for designers who require the choice of ground pivot locations. The results are eight different types of one-degree of freedom planar eight-bar linkages. We demonstrate the design process with the design of a multifunctional wheelchair that could transform its structure between a self-propelled wheelchair and a walking guide.

scholarly journals Normative and methodological principles for transverse webs structural design as applicable to cargo tank area of double hull oil tankers

2020 ◽  
Author(s):  
К.В. Плотников
Keyword(s):  
Design Process ◽  
Structural Design ◽  
Design Procedure ◽  
Direct Analysis ◽  
Design Parameters ◽  
Element Analysis ◽  
Structural Rules ◽  
Functional Relations ◽  
Oil Tankers ◽  
Double Hull

Статья посвящена вопросам проектирования поперечных танкерных рам крупнотоннажных нефтеналивных судов, размеры корпусных конструкций которых должны соответствовать требованиям Общих Правил МАКО (CSR). Требования Правил CSR можно разделить на общие нормативные предписания аналитико-эмпирического характера (prescriptive-требования) и требования к выполнению проверочных расчётов (в первую очередь с использованием МКЭ). В работе рассмотрены алгоритмы проектирования поперечных рам нефтеналивных судов в соответствии с prescriptive requirements, а также предложена методика и алгоритм проектирования таких конструкций, включающие и МКЭ-анализ, которые могут использоваться в практике конструкторских бюро. Приведено обоснование необходимости анализа и обобщения проектных решений в части рамных конструкций на реальных судах, которые могут быть использованы при разработке специализированного программного обеспечения. Поскольку напряжённо-деформированное состояние рамной конструкции зависит от соотношения характеристик изгибной жесткости составляющих её балок, целесообразным является построение алгоритма проектирования, частью которого является решение оптимизационно-поисковой задачи определения требуемых размеров конструкции. Ограничения такой задачи должны формироваться на основе общих требований CSR. В тексте приведено описание нормативных требований и основные их особенности. Кратко описаны возможные варианты постановки задачи и соображения о программной реализации её решения. The paper deals with principal considerations of double-hull oil tankers primary supporting members (PSM) structural design, which meets the requirements of Common Structural Rules (CSR). The algorithms of structural design procedure for different typical arrangements of tankers are considered in the paper. The study shows main features of structural design process that lead to complexity of functional relations. As CSR requirements consist of prescriptive requirements and direct analysis requirements (that usually means finite element analysis) the suggested algorithms include both of these stages. The text explains the need of statistical data of existing designs collecting. Such data includes ratios between required and actual web depths, scantlings of brackets, ratios between moments of inertia of PSM and some others. This data can be used in structural design process and form the limitations of design parameters. As shear forces and bending moments in primary supporting members depend on ratios of its bending stiffness and relation between design parameters are rather complicated it is appropriate to use mathematical programming models, which present a decision support instrument. There are many ways of formulation and implementation of structural design task, and the paper gives general considerations about it. The brief review of previous contributions on this subject is also given.

Topology Optimization of Large Motion Rigid Body Mechanisms With Nonlinear Kinematics

2009 ◽  
Vol 4 (2) ◽  
Author(s):  
Kai Sedlaczek ◽  
Peter Eberhard
Keyword(s):  
Topology Optimization ◽  
Rigid Body ◽  
Design Process ◽  
Combinatorial Problem ◽  
Optimization Techniques ◽  
Dimensional Synthesis ◽  
Ground Structure ◽  
Geometrical Properties ◽  
Manual Task ◽  
Large Motion

The modern design process of mechanical structures is increasingly influenced by highly sophisticated methods of topology optimization that can automatically synthesize optimal design variants. However, the typically finite-element-based methods are limited to design tasks with comparably small deflections and simple kinematics. They are not directly applicable to the difficult development process of large motion mechanisms, which remains mainly a manual task based on the engineer’s experience, intuition, and ingenuity. There, optimization techniques are only, if at all, used in the process of dimensional synthesis, where the geometrical properties and the orientation of individual links of a fixed mechanism topology are determined. In this work, two different approaches to optimization-based topology synthesis of large motion rigid body mechanisms are presented and investigated. The goal is to automatically synthesize a combination of linkage topology and joint types that represent the most suitable mechanism layout for a particular task. The first approach is based on a trusslike ground structure that represents an overdetermined system of rigid bars from which the most appropriate topology can be extracted from this ground structure by means of gradient-based optimization algorithms. In the second approach, a genetic algorithm is used to solve the intrinsically combinatorial problem of topology synthesis. Along with several examples, both approaches are explained, their functionality is shown, and their advantages, limitations, and their capability to improve the overall design process is discussed.

scholarly journals Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Wei An ◽  
Jun Wei ◽  
Xiaoyu Lu ◽  
Jian S. Dai ◽  
Yanzeng Li
Keyword(s):  
Geometric Design ◽  
Practical Significance ◽  
Design Parameters ◽  
Control Algorithms ◽  
Discretization Method ◽  
Dimensional Synthesis ◽  
Symmetrical Structure ◽  
Design And Optimization ◽  
Total Length

AbstractCurrent research on robotic dexterous hands mainly focuses on designing new finger and palm structures, as well as developing smarter control algorithms. Although the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out, research on the dimensional synthesis of dexterous hands with metamorphic palms remains insufficient. This study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand, and explored the geometric design for maximizing the precision manipulation workspace. Different indexes were used to value the workspace of the metamorphic hand, and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were explored. Based on the fixed total length of the palm member, four nondimensional design parameters that determine the size of the palm were introduced; through the discretization method, the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was analyzed. Based on the analysis of the metamorphic multi-fingered hand, the symmetrical structure of the palm was designed, resulting in the largest workspace of the multi-fingered hand, and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated fingers. This research contributed to the dimensional synthesis of metamorphic dexterous hands, with practical significance for the design and optimization of novel metamorphic hands.

scholarly journals A Two-Round Optimization Design Method for Aerostatic Spindles Considering the Fluid–Structure Interaction Effect

2021 ◽  
Vol 11 (7) ◽  
pp. 3017
Author(s):  
Qiang Gao ◽  
Siyu Gao ◽  
Lihua Lu ◽  
Min Zhu ◽  
Feihu Zhang
Keyword(s):  
Optimal Design ◽  
Optimization Design ◽  
Design Method ◽  
Fluid Structure Interaction ◽  
Design Procedure ◽  
Design Parameters ◽  
Geometrical Parameters ◽  
Fluid Structure ◽  
Structure Interaction ◽  
Aerostatic Spindle

The fluid–structure interaction (FSI) effect has a significant impact on the static and dynamic performance of aerostatic spindles, which should be fully considered when developing a new product. To enhance the overall performance of aerostatic spindles, a two-round optimization design method for aerostatic spindles considering the FSI effect is proposed in this article. An aerostatic spindle is optimized to elaborate the design procedure of the proposed method. In the first-round design, the geometrical parameters of the aerostatic bearing were optimized to improve its stiffness. Then, the key structural dimension of the aerostatic spindle is optimized in the second-round design to improve the natural frequency of the spindle. Finally, optimal design parameters are acquired and experimentally verified. This research guides the optimal design of aerostatic spindles considering the FSI effect.

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

Synthesis of Parallel Manipulator with Single DOF

2013 ◽  
Vol 330 ◽  
pp. 639-643 ◽  
Author(s):  
Chung Huang Yu ◽  
Wen Yeuan Chung
Keyword(s):  
Parallel Manipulator ◽  
Design Concept ◽  
Path Generation ◽  
Dimensional Synthesis ◽  
Type Synthesis ◽  
Numerical Example ◽  
Geometrical Constraints ◽  
Moving Platform ◽  
Manipulator Design

This paper proposed a new manipulator design concept which leads to a single DOF system. The system composed of a moving platform and several supporting legs. It can execute the tasks of 3D body guidance or path generation and thus replace expensive manipulators with high DOF in some conditions. There are mainly two steps in designing this manipulator. The first step is type synthesis to determine the number and types of legs. Dimensional synthesis is then executed based on the movement requirements and geometrical constraints. In this study the reduction of the DOF is also analyzed for various legs added between the moving platform and the ground. A numerical example of executing 3D body guidance is given to verify the proposed new concept.

Direct Coupling of a Two-Dimensional Fan Model in a Turbofan Engine Performance Simulation

2016 ◽  
Author(s):  
Ioannis Templalexis ◽  
Alexios Alexiou ◽  
Vassilios Pachidis ◽  
Ioannis Roumeliotis ◽  
Nikolaos Aretakis
Keyword(s):  
Three Dimensional ◽  
Engine Performance ◽  
System Level ◽  
Design Parameters ◽  
High Fidelity ◽  
Two Dimensional ◽  
Performance Simulation ◽  
Cfd Models ◽  
Component Design ◽  
Complex Phenomena

Coupling of high fidelity component calculations with overall engine performance simulations (zooming) can provide more accurate physics and geometry based estimates of component performance. Such a simulation strategy offers the ability to study complex phenomena and their effects on engine performance and enables component design changes to be studied at engine system level. Additionally, component interaction effects can be better captured. Overall, this approach can reduce the need for testing and the engine development time and cost. Different coupling methods and tools have been proposed and developed over the years ranging from integrating the results of the high fidelity code through conventional performance component maps to fully-integrated three-dimensional CFD models. The present paper deals with the direct integration of an in-house two-dimensional (through flow) streamline curvature code (SOCRATES) in a commercial engine performance simulation environment (PROOSIS) with the aim to establish the necessary coupling methodology that will allow future advanced studies to be performed (e.g. engine condition diagnosis, design optimization, mission analysis, distorted flow). A notional two-shaft turbofan model typical for light business jets and trainer aircraft is initially created using components with conventional map-defined performance. Next, a derivative model is produced where the fan component is replaced with one that integrates the high fidelity code. For both cases, an operating line is simulated at sea-level static take-off conditions and their performances are compared. Finally, the versatility of the approach is further demonstrated through a parametric study of various fan design parameters for a better thermodynamic matching with the driving turbine at design point operation.

The Impact of Geometric Variation on Compressor Two-Dimensional Incidence Range

2014 ◽  
Vol 137 (2) ◽  
Author(s):  
Martin N. Goodhand ◽  
Robert J. Miller ◽  
Hang W. Lung
Keyword(s):  
Design Process ◽  
Design Space ◽  
Leading Edge ◽  
Critical Value ◽  
Two Dimensional ◽  
Suction Surface ◽  
Design Intent ◽  
Manufacture Process ◽  
The Impact ◽  
Geometric Variation

An important question for a designer is how, in the design process, to deal with the small geometric variations which result from either the manufacture process or in-service deterioration. For some blade designs geometric variations will have little or no effect on the performance of a row of blades, while in others their effects can be significant. This paper shows that blade designs which are most sensitive are those which are susceptible to a distinct switch in the fluid mechanisms responsible for limiting blade performance. To demonstrate this principle, the sensitivity of compressor 2D incidence range to manufacture variations is considered. Only one switch in mechanisms was observed, the onset of flow separation at the leading edge. This switch is only sensitive to geometric variations around the leading edge, 0–3% of the suction surface. The consequence for these manufacture variations was a 10% reduction in the blade's positive incidence range. For this switch, the boundary in the design space is best defined in terms of the blade pressure distribution. Blade designs where the acceleration exceeds a critical value just downstream of the leading edge are shown to be robust to geometric variation. Two historic designs, supercritical blades and blades with sharp leading edges, though superior in design intent, are shown to sit outside this robust region and thus, in practice, perform worse. The improved understanding of the robust, region of the design space is then used to design a blade capable of a robust, 5% increase in operating incidence range.

Sign in / Sign up

Export Citation Format

Share Document