Optimal free-defect synthesis of four-bar linkage with joint clearance using PSO algorithm

This paper presents the design of planar four-bar linkages free of order, branch and circuit defects, for the purpose of path generation, having clearances at one, two, three or all of its joints. Joint clearance is treated as a massless virtual link and its direction is known by the direction of the joint force. A Particle Swarm Optimization based algorithm is given here to solve this highly nonlinear optimization problem with some constraints, namely; the Grashof’s and free of the foregoing defects conditions. An example is included in which the optimal problem is solved for different cases; namely planar four-bar linkage having clearances at one, two, three, all of the joints and without clearance. For all the designs, the generated paths, the errors and the directions of the virtual links are plotted and are compared. Finally, we compare the optimal designs with reality.     

A new non-servo motor type automatic tool changing mechanism based on rotational transmission with dual four-bar linkages

In the non-servo motor type automatic tool changer (ATC), the rotational transmission mechanism (RTM), which converts the rotary motion with specific rotational ratio, is important. This paper presents a new design for RTM with dual four-bar linkages for the non-servo motor type ATC. This RTM is entirely different from the mechanism using single four-bar linkage, in which the motion is intermittent. In the case of the mechanism using single four-bar linkage, the shape of the trajectory of four-bar linkage is the only design consideration. However, in the case of the proposed mechanism, both the shape and the speed ratio of the contact and non-contact paths of the trajectory of the four-bar linkage have to be considered. Therefore, the four-bar linkages are designed using the new path synthesis algorithm based on the derivative of the target trajectory. Through various analyses, this paper provides the proper design of the RTM. A prototype of a machining center using the developed ATC with RTM was created to verify the feasibility and for kinematic experiments. The research shows that the new RTM with linkage mechanism is suitable for practical applications.     

Optimum synthesis of spatial function generator mechanisms

In this study a numerical method for optimum synthesis of spatial function generator four-bar linkages is presented. The key features of the method are: the embedding of the assembly criterion and of the transmission ratio in the penalty function; the non-derivative minimization procedure; the parametric variation of the first-guess mechanism. The effectiveness of the method is illustrated by means of examples of optimum design. In some examples articulated mechanisms, which can replace cam systems in automatic machinery, are synthesized.

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Sommario In questo studio si presenta un metodo per la sintesi ottimale di quadrilateri articolati spaziali generatori di funzione. Le principali caratteristiche del metodo proposto sono: l'inclusione del criterio di assemblabilità e dell'angolo di pressione nella funzione penalità; l'utilizzazione di un algoritmo di minimizzazione non derivativo; la variazione parametrica del meccanismo di primo tentativo. L'efficacia del metodo è messa in luce tramite una serie di esempi di progetto ottimale; in alcuni di essi sono stati sintetizzati dei quadrilateri spaziali in grado di sostituire i sistemi a camma spaziale nelle macchine automatiche.

     

Computer aided design of chains of four-bar linkages with an interactive method

Summary For some time in the Section of Applied Mechanics at Milan's Politecnico, various routines for the kinematic analysis of linkages have been prepared. These and similar routines are satisfying for that which concerns analysis, but cannot be adapted or are often insufficient when dealing with synthesis using trial and error methods. Given that the major difficulty of using these methods is the scarce possibility of communication between the designer and the machine, we thought that the best solution would be to equip these analysis routines with a new part thus facilitating communication between the designer and the machine. This paper represents a further step in this direction and contains a number of examples of the design of linkage systems for application in mechanical presses.

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Sommario Ormai da tempo si ricorre all'uso dell'elaboratore per lo studio dei meccanismi. Presso la Sezione di Meccanica delle Macchine del Politecnico di Milano sono stati messi a punto numerosi programmi per l'analisi cinematica dei meccanismi articolati. Questi programmi ed altri similari, si rivelano del tutto soddisfacenti per quanto riguarda l'analisi ma sono poco adatti e spesso insufficienti per procedere alla sintesi con metodi del tipo ?trial and error?. Constatato che la maggiore difficoltà che si incontra nel procedere con questi metodi sta nelle scarse possibilità di dialogo tra operatore e macchina, ci si è resi conto che la strada da seguire è quella di corredare questi programmi di analisi di una larga parte nuova con lo scopo appunto di rendere il più agevole possibile il colloquio tra operatore e macchina. Il presente lavoro rappresenta un ulteriore passo in questa direzione rispetto al precedente degli stessi autori.

     

On the comparative optimal analysis and synthesis of four-bar function generating mechanism using different heuristic methods

In this research, optimal synthesis of function generation of four-bar linkages is investigated using different heuristic optimization methods. The novelty of this study is that we considered the five precision point’s distribution and both stroke angles of the follower and crank links as the optimization variables. Therefore, a non-linear optimization was done with seven variables. Different optimization techniques, including heuristic and gradient based methods were used for optimization and were completely compared. Finally, general solutions were found and distribution of precision points for some desired functions was rationalized. GA-Hybrid seems to be the best method in finding global optimums in cases that the problem is sorely nonlinear, and also it is fast. Even it seems that distribution of precision points is independent of stroke angles of the follower and crank links. Some precision points are out of the design domain, and they are sorted in a way that they can describe the behavior of desired function better.     

加速度计精密离心机试验的优化设计

针对加速度计精密离心机试验,提出了一种改进的D最优试验设计方法。首先,分析了加速度计在精密离心机测试时的实际量测噪声特性,在此基础上指出传统的优化设计方法,即饱和D最优试验设计,存在工程适用性问题。然后为了改善饱和D最优试验设计的适用性,并且考虑到试验代价和精度的折中关系,提出了D最优改进试验设计方案。该方案将饱和D最优试验谱点作为基本谱点,在基本谱点之间均匀插入其他谱点来降低输入加速度偏差的影响,并通过加权的方法来分配基本谱点和新增谱点的测度,权值的选取依据实际的噪声特性。最后仿真结果表明,该设计方法包含了饱和D最优设计和均匀设计的优点,能够给出更为合理的加速度计精密离心机试验方案设计。     

Optimal distribution of reliability for a large network based on connectivity

It is a non-polynomial complexity problem to calculate connectivity of the complex network. When the system reliability cannot be expressed as a function of element reliability, we have to apply some heuristic methods for optimization based on connectivity of the network. The calculation structure of connectivity of complex network is analyzed in the paper. The coefficient matrixes of Taylor second order expansion of the system connectivity is generated based on the calculation structure of connectivity of complex network. An optimal schedule is achieved based on genetic algorithms （GA）. Fitness of seeds is calculated using the Taylor expansion function of system connectivity. Precise connectivity of the optimal schedule and the Taylor expansion function of system connectivity can be achieved by the approved Minty method or the recursive decomposition algorithm. When error between approximate connectivity and the precise value exceeds the assigned value, the optimization process is continued using GA, and the Taylor function of system connectivity needs to be renewed. The optimization process is called iterative GA. Iterative GA can be used in the large network for optimal reliability attribution. One temporary optimal result will be generated every time in the iteration process. These temporary optimal results approach the real optimal results. They can be regarded as a group of approximate optimal results useful in the real project.     

在Cap-cyclide坐标中Wangerin函数Nmn(ν)的高精度数值计算

在Cap-cyclide坐标中,Wangerin函数Nnm(v)为特征值函数且解析式中包含第一类完全椭圆积分和Jacobi椭圆函数。为实现Wangerin函数Nnm(v)的高精度数值计算,首先利用迭代法对第一类完全椭圆积分进行数值计算,得到的数值解与理论值基本一致;其次利用Jacobi椭圆函数的恒等式实现其数值计算,数值解的有效数字达到了14位以上。基于此,分两个步骤实现Wangerin函数Nnm(v)的高精度数值计算。本文的结论为进一步探讨Wangerin函数的收敛性和稳定性问题提供基础,具有一定的工程实际价值。     

Analysis on dynamic precision reliability of high-speed precision press based on Monte Carlo method

Nonlinear Dynamics - By using the multiplier approach, we construct the conservation laws and the corresponding conserved quantities for the modified Camassa–Holm equation and...     

基于径向基函数的机翼二维气动代理模型设计

采用多学科设计优化方法进行机翼气动/结构优化时,结构学科的优化需要气动学科提供机翼压力分布的代理模型。本文引入了等参单元形函数的几何变换思想,利用径向基函数,解决了复杂形状机翼的二维气动代理模型的构造问题,进行了某巡航导弹弹翼考虑结构变形的气动力代理模型的构建。算例结果表明,本文所用代理模型构造方法简单易行,预测结果的精度很好。     

A retractable structure based on Bricard linkages and rotating rings of tetrahedra

Retractable structures which alter their geometries according to practical requirements are widely used in roof structures of stadiums for their versatility. A retractable structure based on threefold-symmetric Bricard linkages and rotating rings of tetrahedra is proposed and developed in this paper. By replacing each link of a threefold-symmetric Bricard linkage with a tetrahedron, a retractable structure is obtained which can repeatedly open and close by rotating the tetrahedra. The geometric relationship between the retractable structure and the threefold-symmetric Bricard linkage is derived and ranges of main geometric parameters are determined to ensure a continuous and smooth movement in the deployment of the structure. Then the relative displacement of the support and the open rate of the structure, two main parameters concerned in practical applications, are investigated. Preferred ranges of main geometric parameters are proposed and a physical model is manufactured to verify them. A discussion on some possible improvements and modifications of the structure is also presented.     

Pseudo-random number generator based on discrete-space chaotic map

This paper describes an efficient method to predict the nonlinear steady-state response of a complex structure with multi-scattered friction contacts. The contact friction force is equivalent to additional stiffness and damping based on optimal approximation theory, and as a consequence, the computation is simplified greatly by the linearization for a nonlinear system. In order to obtain accurate pressure distribution on the contact interfaces, the dynamic contact normal pressure is obtained by the equivalent static analysis which is validated for most engineering cases. Considering the complex procedure to determine the transformation between two different contact states, the differential forms of friction force are given to solve the tangential force accurately under the complex movement of interfaces. The approaches developed in this paper are particularly suitable to solve the dynamic response of large-scale structures with local contact nonlinearities. The entire procedure to calculate the steady-state response of a finite element model with a large number of degrees of freedom is demonstrated taking the blades with underplatform dampers as an example. The method is proved to be accurate and efficient; in particular, it does not suffer convergence problem in the allowable range of precision error, which exhibits remarkable potential engineering application values.     

Optimal synthesis of three-revolute manipulators

An optimization method is proposed and discussed in order to synthesize a three-revolute open chain manipulator whose structure can have minimum size encumbrance and a workspace with prescribed constraints. The sequential quadratic programming optimization technique used has been successfully applied to the formulated problem as illustrated in some examples.A first version of this paper was presented at AIMETA 92, 11th Italian Congress of Theoretical and Applied Mechanics, Trento, 28 September–2 October 1992.     

Arm motion control model based on central pattern generator

According to the theory of Matsuoka neural oscillators and with the consideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator(CPG) neural network consisting of six neurons is proposed to regulate the contraction of the upper arm muscles. To verify effectiveness of the proposed CPG network, an arm motion control model based on the CPG is established.By adjusting the CPG parameters, we obtain the neural responses of the network, the angles of joint and hand of the model with MATLAB. The simulation results agree with the results of crank rotation experiments designed by Ohta et al., showing that the arm motion control model based on a CPG network is reasonable and effective.     

Investigation on effect of joint clearance on dynamics of four-bar mechanism

As a result of design, manufacturing and assembly processes or a wear effect, clearances are inevitable at the joints of mechanisms. In this study, dynamic response of mechanism having revolute joints with clearance is investigated. A four-bar mechanism having two joints with clearance is considered as a model mechanism. A neural network was used to model several characteristics of joint clearance. Kinematic and dynamic analyses were achieved using continuous contact mode between journal and bearing. A genetic algorithm was also used to determine the appropriate values of design variables for reducing the additional vibration effect due primarily to the joint clearance. The results show that the optimal adjusting of suitable design variables gives a certain decrease in shaking forces and their moments on the mechanism frame.     

Pseudo-random number generator based on a generalized conservative Sprott-A system

Nonlinear Dynamics - Pseudo-random number generator (PRNG) has been widely used in digital image encryption and secure communication. This paper reports a novel PRNG based on a generalized Sprott-A...     

基于更新径向基函数网络模型的广义Pareto分布函数拟合

广义Pareto分布函数GPD(Generalized Pareto Distribution)是一种针对随机参数尾部进行渐进插值的方法,能够对高可靠性问题进行评估。但这种方法要求样本空间较大,计算成本较高,尽管可以通过径向基函数网络RBFNN(Radial Basis Function Neural Network)辅助抽样的方法削减计算成本,但对于非线性程度较高的问题,RBFNN精度问题使得辅助抽样方法失效。针对这类问题,根据GPD的特点,提出了高效的更新RBFNN训练样本的方法,改善了RBFNN在功能函数分布尾部的精度,将RBFNN辅助抽样方法推广应用到非线性程度较高的问题,准确地得到了所有需要的尾部样本,基于该尾部样本集的GPD拟合结果与基于直接计算所有样本的GPD拟合结果完全一致。     

基于光纤陀螺零偏稳定性的高精度寻北方案

为了进一步提高光纤陀螺寻北系统的测量精度,提出了一种基于光纤陀螺零偏稳定性分析的寻北算法设计方案.首先,分析了光纤陀螺寻北系统的原理和影响系统寻北精度的主要因素,指明在寻北时间一定的情况下,需要根据光纤陀螺零偏稳定性的测试结果来平衡单位置积分时间及位置数,来达到较高的寻北精度.实验数据表明,本系统利用精度为0.03 (°)/h的陀螺进行5 min寻北测试,采用56位置法可以实现3′的寻北精度.此方法突破了传统寻北算法的参数选择标准,能够最大程度抑制陀螺的测量噪声,大幅提高寻北系统性能,对其它陀螺寻北系统的参数选择具有借鉴意义.