TY - CONF
T1 - Constrained optimization of multi-degree-of-freedom mechanisms for near-time optimal motions
AU - Sundar, Satish
AU - Shiller, Zvi
PY - 1992
Y1 - 1992
N2 - This paper presents a design method of multi-degree-of-freedom mechanisms for near-time optimal motions. The design objective is to select system parameters, such as link lengths and actuator sizes, so as to minimize the optimal motion time of the mechanism along a given path. The exact time optimization problem is approximated by a simpler procedure that maximizes the acceleration near the end points. Representing the directions of maximum acceleration with the acceleration lines, and the reachability constraints as explicit functions of the design parameters, we transform the constrained optimization to a simpler curve fitting problem that can be formulated analytically. This allows the use of efficient gradient type optimizations, instead of the pattern search optimization that is otherwise required. Examples for optimizing the dimensions of a five-bar planar mechanism demonstrate close correlation of the approximate with the exact solutions, and an order of magnitude better computational efficiency than the previously developed unconstrained optimization methods.
AB - This paper presents a design method of multi-degree-of-freedom mechanisms for near-time optimal motions. The design objective is to select system parameters, such as link lengths and actuator sizes, so as to minimize the optimal motion time of the mechanism along a given path. The exact time optimization problem is approximated by a simpler procedure that maximizes the acceleration near the end points. Representing the directions of maximum acceleration with the acceleration lines, and the reachability constraints as explicit functions of the design parameters, we transform the constrained optimization to a simpler curve fitting problem that can be formulated analytically. This allows the use of efficient gradient type optimizations, instead of the pattern search optimization that is otherwise required. Examples for optimizing the dimensions of a five-bar planar mechanism demonstrate close correlation of the approximate with the exact solutions, and an order of magnitude better computational efficiency than the previously developed unconstrained optimization methods.
KW - Actuators
KW - Equations of motion
KW - Kinematics
KW - Mathematical models
KW - Mechanics
KW - Optimization
KW - Constrained optimization
KW - Curve fitting problem
KW - Exact time optimization problem
KW - Explicit functions
KW - Five-bar planar mechanisms
KW - Multi-degree-of-freedom mechanisms
KW - Near-time optimal motions
KW - Pattern search optimization
KW - Reachability constraints
UR - http://www.scopus.com/inward/record.url?scp=0027048660&partnerID=8YFLogxK
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AN - SCOPUS:0027048660
SP - 571
EP - 577
T2 - 22nd Biennial Mechanisms Conference
Y2 - 13 September 1992 through 16 September 1992
ER -