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dc.contributor.authorYihun, Yimesker
dc.contributor.authorBosworth, Kenneth
dc.contributor.authorPérez Gracia, Alba
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.date.accessioned2022-02-25T09:30:21Z
dc.date.issued2014-12
dc.identifier.citationYihun, Y.; Bosworth, K.; Perez Gracia, A. Link-based Performance Optimization of Spatial Mechanisms. "Journal of mechanical design", Desembre 2014, vol. 136, núm. 12, p. 122303: 1-122303: 11.
dc.identifier.issn1050-0472
dc.identifier.urihttp://hdl.handle.net/2117/363083
dc.description.abstractIn the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle avoidance, force transmission, or physical dimensions, to name a few. Many of these additional performance requirements are fully or partially independent of the kinematic task and can be fulfilled using a link-based optimization after the set of joint axes has been defined. This work presents a methodology to optimize the links of spatial mechanisms that have been synthesized for a kinematic task, so that additional requirements can be satisfied. It is based on considering the links as anchored to sliding points on the set of joint axes, and making the additional requirements a function of the location of the link relative to the two joints that it connects. The optimization of this function is performed using a hybrid algorithm, including a genetic algorithm (GA) and a gradient-based minimization solver. The combination of the kinematic synthesis together with the link optimization developed here allows the designer to interactively monitor, control, and adjust objectives and constraints, to yield practical solutions to realistic spatial mechanism design problems.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica
dc.subject.lcshRobotics
dc.subject.lcshRobotics--Design and construction
dc.subject.otherSynthesis
dc.subject.otherspatial mechanisms
dc.subject.otheroptimization
dc.subject.otherdesign
dc.titleLink-based Performance Optimization of Spatial Mechanisms
dc.typeArticle
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. CDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines
dc.identifier.doi10.1115/1.4028304
dc.relation.publisherversionhttps://asmedigitalcollection.asme.org/mechanicaldesign/article-abstract/136/12/122303/375953/Link-Based-Performance-Optimization-of-Spatial?redirectedFrom=fulltext
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac32502368
dc.description.versionPostprint (author's final draft)
dc.date.lift10000-01-01
local.citation.authorYihun, Y.; Bosworth, K.; Perez Gracia, A.
local.citation.publicationNameJournal of mechanical design
local.citation.volume136
local.citation.number12
local.citation.startingPage122303: 1
local.citation.endingPage122303: 11


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