NDLI: Optimal Synthesis of a Planar Reactionless Three-Degree-of-Freedom Parallel Mechanism

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Collard, Jean-Francois Gosselin, Cle´ment
Copyright Year	2010
Abstract	A reactionless mechanism is one in which no reaction forces nor moments are transmitted to the base for any arbitrary motion. This interesting property often requires to increase the total mass and the moments of inertia, leading to reduced dynamical performances. Therefore, this paper presents an optimization approach to synthesize and improve the dynamical performance of a reactionless three-degree-of-freedom planar mechanism. The three legs of this original mechanism are composed of reactionless four-bar mechanisms dynamically balanced with only one counter-rotation at the base. The optimization variables are the geometric and inertial parameters, while the goal is to minimize the global moment of inertia of each leg. This will reduce the power consumption of the three actuators and increase the agility. To meet physical and realistic requirements, the optimization problem is also constrained with bounds on the parameters, with the reachability of a given workspace and with a given range on a kinematic sensitivity index. Since different initial guesses of the optimization lead to similar objective results, it is proposed to search for several local solutions (morphologies) in the design space. The final choice among these solutions is made using additional design criteria based on the sensitivity in terms of dynamic balancing and power consumption with respect to the design parameters.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	1599
Ending Page	1608
Page Count	10
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-28861
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Design Actuators Energy consumption Parallel mechanisms Inertia (mechanics) Rotational inertia Kinematics Rotation Optimization
Content Type	Text
Resource Type	Article

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