Synthesis of mechanisms using evolution of associated dissipative systems
Tóm tắt
The paper deals with the new approach of the kinematical synthesis based on the reformulation of the synthesis computations as a time evolution of the nonlinear dynamical dissipative system. The synthesis/optimization objective functions are constructed based on the network of mechanism positions within the desired workspace. All synthesized parameters of the mechanism are in the associated dynamical system introduced as time-varying and generally different in the different positions. The important points and/or important lines are equipped with the fictitious masses and/or moments of inertia, the differences of parameters generates the correction forces, and the gradual dissipation of the kinetic energy is ensured by dampers connected between the inertial frame and the masses (sky-hook concept). The correction forces couple the auxiliary dynamical subsystems created in different positions. The nonzero correction forces are generated as long as the values of the corresponding parameters across the positions differ. The synthesis process is realized as the time evolution of such a system. The main advantage of the method for solving mechanisms’ synthesis is that it uses the unassembled configurations of the mechanisms by evolution of the time varying parameters. The mechanism search thus smoothly goes through the space of system parameters without inefficient penalization of the unassembled configurations. This space provides possible valuable solution of the more robust kinematical synthesis of the mechanisms. The applications for the different types of synthesis tasks and optimization of different objective functions like the optimization of the mechanism transmission or the multi-objective optimization of dexterity measure and the built-up space are straightforward, as described within the presented examples. The efficiency of the method can be improved using several re-activations of the evolution process.
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