THESIS
2010
xi, 119 p. : ill. ; 30 cm
Abstract
The present research focuses on the formulation of a recursive and cohesive design methodology for parallel robotic mechanisms. By using a multi-body dynamic simulation engine together with multi-disciplinary optimization methods, coupled mechanical, control can be considered in one integrated design framework. Optimization algorithms can then be employed to optimize design parameters simultaneously to meet performance objectives....[
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The present research focuses on the formulation of a recursive and cohesive design methodology for parallel robotic mechanisms. By using a multi-body dynamic simulation engine together with multi-disciplinary optimization methods, coupled mechanical, control can be considered in one integrated design framework. Optimization algorithms can then be employed to optimize design parameters simultaneously to meet performance objectives.
To demonstrate the feasibility and effectiveness of the proposed methodology, design cases will be optimized and compared with the use of traditional sequential design method. The motivation of the work is to simplify the integrated design optimization framework for complex mechatronics system. Finite element modelling has been identified as the method to provide more accurate dynamic modelling of complex geometrical structures.
However, the mere size of the multi-dimensional problems often hinders its incorporation in other optimization algorithm unless severe model reduction is performed. The goal of the current work is to demonstrate the fidelity provided by the proposed simulator and describe its place in the overall design framework for parallel manipulators. The simulator shows good agreement with an independent finite-element model and experimental results.
Based on evaluations of simulation and experimental results, proposed design methodology is shown to be suitable for complex design optimization problems involving multiple disciplines of design variables, design criteria and local optima. The thesis explains the integrated design of parallel machines with configuration-dependent dynamics. To effectively evaluate and simulate parallel machines in time-domain, SimMechanics simulation engine is proposed to be used along side with implementation of FEM models of key mechanical structures.
The following document describes past research on the subject, the major studies carried out in multi-disciplinary areas to complete the current research, the problem formulation of integrated design optimization and the concluded results and recommendations.
Key Terms: parallel manipulator, integrated design, dynamic system simulation, design optimization
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