Topology Optimization of Multiple Parts in Dynamic Controlled Systems

2008 ◽  
Author(s):  
Albert Albers ◽  
Jens Ottnad ◽  
Pascal Ha¨ußler ◽  
Johannes Minx
Keyword(s):  
Control System ◽  
Structural Optimization ◽  
Dynamic Properties ◽  
Continuous Process ◽  
Research Work ◽  
Humanoid Robots ◽  
Optimization Process ◽  
Research Centre ◽  
Mechatronic System ◽  
Computer Aided

The importance of computer aided engineering (CAE) in product development processes and research has been increasing throughout the past years. Consequently, optimization tools gained more and more importance. In state-of-the-art processes and methods concerning structural optimization it is assumed that there exists a set of external loads or load functions acting on the part. Very often modern products represent complex mechatronic system. The fact that the system’s dynamic properties and its overall behaviour may change due to geometric modifications of a part caused by an optimization process is typically neglected. In order to take into account the interaction between the part, dynamic system, control system and the changing mechanical behaviour with all its consequences for the optimization process, a simulation of the complete mechatronic system is integrated into the optimization process within the research work presented in this paper. A hybrid multibody system (MBS) simulation, that is, a MBS containing flexible bodies, in conjunction with a cosimulation of the control system represented by tools of the Computer Aided Control Engineering (CACE) is integrated into the optimization process. The research work presented in this paper is a contribution towards the integration of existing CAE methods into a continuous process for structural optimization. The benefits will be illustrated by an example, namely a part of the humanoid robot ARMAR III of the collaborative research centre for “Humanoid Robots” [1]. Especially the optimization of two parts at a time within one optimization loop allows an efficient optimization of structures “within” their surrounding mechatronic system.

Structural Optimization of Components in Controlled Mechanical Systems

2007 ◽  
Author(s):  
Albert Albers ◽  
Jens Ottnad ◽  
Pascal Ha¨ußler ◽  
Johannes Minx
Keyword(s):  
Control System ◽  
Topology Optimization ◽  
Product Development ◽  
Structural Optimization ◽  
Continuous Process ◽  
Research Work ◽  
Mechanical Systems ◽  
Optimization Process ◽  
Research Centre ◽  
Mechatronic System

The importance of computer aided engineering in product development processes and research has been increasing rapidly throughout the past years. Today’s software can e.g. help to optimize complex components regarding different objectives or conditions. The capability of these tools has been proved in many industrial applications. They are used in order to improve the products on the one hand and to reduce the development time, and therefore, the costs of the product development on the other hand. New studies in the field of structural optimization concentrate on dynamically loaded parts in mechanical systems. In the state-of-the-art process and methods it is assumed that there exists a set of external loads or load functions acting on the part. The fact that due to geometric modifications caused by an optimization process, changes of the system’s dynamic properties and its overall behaviour may be neglected. In order to take into account the interaction between part and system with all its consequences for the optimization process, a simulation of the complete system is integrated into the optimization process within the research work presented in this paper. Dynamic systems today very often are controlled. The control has a major influence on the dynamic characteristics of the system. Therefore the target is to take into account the aspects of the control system as well during a topology optimization process of the mechanical part in a mechatronic system. Here, a hybrid multibody system simulation, that is, a MBS containing flexible bodies, in conjunction with a Co-Simulation of the control system is integrated into the optimization process. A humanoid robot is an example for such a complex mechatronic system. The goal of the collaborative research centre 588 “learning and cooperating multimodal robots” at the University of Karlsruhe (TH) is the development of robots that can help the human fulfilling everyday tasks in a human environment. The research work presented in this paper is a contribution towards the integration of existing isolated methods into a continuous process. The benefits will be illustrated by an example. The focus is set on the design of the mechanical parts in conjunction with an automatic parameter adaption (optimization) of the control system. Finite element analysis, multibody simulation, control design tools, parameter optimization and topology optimization are tied together into one process to allow an efficient optimization of structures “within” their surrounding mechatronic system.

Integrated Structural and Controller Optimization in Dynamic Mechatronic Systems

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
Albert Albers ◽  
Jens Ottnad
Keyword(s):  
Control System ◽  
Research Work ◽  
Humanoid Robots ◽  
Optimization Process ◽  
Research Centre ◽  
System Control ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Control Engineering ◽  
Optimization Loop

In order to take into account the interaction between the part, dynamic system, control system, and changing mechanical behavior with all its consequences for the optimization process, a simulation of the complete mechatronic system is integrated into the optimization process within the research work presented in this paper. A hybrid multibody system (MBS) simulation, that is a MBS containing flexible bodies, in conjunction with a cosimulation of the control system represented by tools of the computer aided control engineering, is integrated into the optimization process. By an inner optimization loop the controller parameters are adopted new in each of the iterations of the topology optimization in order to provide realistic load cases. The benefits will be illustrated by an example in conjunction with the humanoid robot ARMAR III of the Collaborative Research Centre 588 “Humanoid Robots-Learning and Cooperating Multimodal Robots” in Karlsruhe Germany. It will be shown how the new approach for the optimization of parts “within” their surrounding mechatronic system allows an efficient optimization of such structures.

Stiffened CFRP-Panels Under Buckling Loads: Modeling, Analysis, Optimization

1995 ◽  
Author(s):  
Hans A. Eschenauer ◽  
Christof M. Weber
Keyword(s):  
Structural Analysis ◽  
Structural Optimization ◽  
Fiber Composite ◽  
Composite Plates ◽  
Optimization Process ◽  
Optimal Layout ◽  
Buckling Loads ◽  
Whole Process ◽  
Modeling Analysis ◽  
Complete Optimization

Abstract The present paper addresses the optimal layout of stiffened fiber composite plates (Fig. 1) considering buckling constraints; these plates are increasingly applied in many fields of engineering (air- and spacecraft technology, automotive industries, boatbuilding etc.). This particular area of structural optimization still requires substantial investigations into its fundamentals. The structural analysis alone for the treatment of this type of problems may increase to such a degree that the complete optimization process requires extremely long computation times due to the processing of a high amount of data, a fact that calls for the development of “intelligent” procedures in order to reduce the computation effort to a tolerable measure and to maintain reduplicability of the whole process. For this purpose, a so-called “constructive design model” is introduced.

A Multi-Purpose Method for SMA Actuator Development

2013 ◽  
Author(s):  
Sven Langbein ◽  
Alexander Czechowicz
Keyword(s):  
Standardized Testing ◽  
Shape Memory ◽  
Smart Materials ◽  
Research Work ◽  
Simulation Tools ◽  
Sma Actuators ◽  
Shape Memory Actuators ◽  
Computer Aided ◽  
Sma Actuator ◽  
Actual Shape

Shape memory alloys (SMA) are thermally activated smart materials. Due to their ability to change into a previously imprinted actual shape through the means of thermal activation, they are suitable as actuators for mechatronical systems. Despite of the advantages shape memory alloy actuators provide, these elements are only seldom integrated by engineers into mechatronical systems. Reasons are the complex characteristics, especially at different boundary conditions and the missing simulation- and design tools. Also the lack of knowledge and empirical data are a reason why development projects with shape memory actuators often lead to failures. Therefore, a need of developing methods, standardized testing of empirical properties and computer aided simulation tools is motivated. While computer-aided approaches have been discussed in further papers, as well as standardization potentials of SMA actuators, this paper focuses on a developing method for SMA actuators. The main part of the publication presents the logical steps which have to be passed, in order to develop an SMA actuator, considering several options like mechanical, thermal, and electrical options. As a result of the research work, the paper proves this method by one example in the field of SMA-valve technology.

Design of Robust Mechatronics Embedded Systems by Integration of Virtual Simulation and Mechatronics Platform

2015 ◽  
Author(s):  
Devdas Shetty ◽  
Naresh Poudel ◽  
Esther Ososanya
Keyword(s):  
Control System ◽  
Product Development ◽  
Complex Systems ◽  
Real Time ◽  
Machine Tools ◽  
Mechatronic System ◽  
Embedded Control ◽  
Embedded Control System ◽  
Mass Spring ◽  
Technology Demonstrator

Increasing demands on the productivity of complex systems, such as machine tools and their steadily growing technological importance will require the application of new methods in the product development process. This paper shows that the analysis of the simulation results from the simulation based mechatronic model of a complex system followed by a procedure that allows a better understanding of the dynamic behavior and interactions of the components. Mechatronics is a design philosophy, which is an integrating approach to engineering design. Through a mechanism of simulating interdisciplinary ideas and techniques, mechatronics provides ideal conditions to raise the synergy, thereby providing a catalytic effect for the new solutions to technically complex situations. This paper shows how the mechatronic products can exhibit performance characteristics that were previously difficult to achieve without the synergistic combination. The paper further examines an approach used in modeling, simulation and optimization of dynamic machine tools and adopts it for general optimized design of mechatronics instrumentation and portable products. By considering the machine tool as a complete mechatronic system, which can be broken down into subsystems, forms the fundamental basis for the procedure. Starting from this point of view it is necessary to establish appropriate simulation models, which are capable of representing the relevant properties of the subsystems and the dynamic interactions between the machine components. Many real-world systems can be modeled by the mass-spring-damper system and hence considering one such system, namely Mechatronics Technology Demonstrator (MTD) is discussed here. MTD is a portable low cost, technology demonstrator, developed and refined by the authors. It is suitable for studying the key elements of mechatronic systems including; mechanical system dynamics, sensors, actuators, computer interfacing, and application development. An important characteristic of mechatronic devices and systems is their built-in intelligence that results through a combination of precision, mechanical and electrical engineering, and real time programming integrated to the design process. The synergy can be generated by the right combination of parameters, that is, the final product can be better than just the sum of its parts. The paper highlights design optimization of several mechatronic products using the procedures derived by the use of mass spring damper based mechatronic system. The paper shows step by step development of a mechatronic product and the use of embedded software for portability of hand held equipment. A LabVIEW based platform was used as a control tool to control the MTD, perform data acquisition, post-processing, and optimization. In addition to the use of LabVIEW software, the use of embedded control system has been proposed for real-time control and optimization of the mass-spring-damper system. Integrating embedded control system with the mass-spring-damper system makes the MTD a multi-concepts Mechatronics platform. This allows interface with external sensors and actuators with closed-loop control and real-time monitoring of the physical system. This teaches students the skill set required for embedded control: design control algorithms (model-based embedded control software development, signal processing, communications), Computer Software (real-time computation, multitasking, interrupts), Computer hardware (interfacing, peripherals, memory constraints), and System Performance Optimization. This approach of deriving a mathematical model of system to be controlled, developing simulation model of the system, and using embedded control for rapid prototyping and optimization, will practically speed product development and improve productivity of complex systems.

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