This paper presents a concept and implementation of a toolbox for design and application of tripod-based parallel kinematic machines (PKMs). The toolbox is a suite of design tools to support users from conceptual design to actual application of tripod-based PKMs. These design tools have been individually developed in different languages and development environments, and are integrated seamlessly using a JAVA-based platform. Users can access all the design tools through a friendly graphical user interface (GUI). It is the first computer-aided design system specially developed for tripod-based PKMs. The toolbox includes some innovative methodologies, such as a forward kinematics solver, the concept of joint workspace, on-line monitoring based on forward kinematics, and the concept of motion purity. The paper gives an overview on the toolbox architecture and some key technologies.
Abstract--Integrated design of airframe/propulsion of hypersonic vehicles is a problem of multi-objective multidisciplinary design optimization (MDO) for complex coupled systems in nature. In order to implement a MDO on airframe/propulsion integration, firstly the design structure matrix was established based on the analysis of coupling relationships among disciplines for airframe/propulsion integration; secondly, the system optimization model and disciplinary optimization models for airframe/propulsion integration were proposed; finally, simulations for the multiobjective multidisciplinary design optimization of airframe/propulsion integration of hypersonic vehicles were conducted by means of co-evolutionary method and a satisfactory Pareto optimal solution set was obtained. Keywords-airframe;propulsion; hypersonic vehicle; multidisciplinary; MDO I INTRODUCTIONFor the airframe/propulsion integration of hypersonic vehicles, strong couplings exist among disciplines such as structural mechanics, aerothermodynamics, combustion, trajectory and control, and geometric profile in addition to the coupling between aerodynamics and propulsion. Integrated design of airframe/propulsion for hypersonic vehicles is a typical multi-objective multidisciplinary design optimization problem due to its intrinsic characteristic of multidisciplinary coupling.The purpose of multi-objective multidisciplinary design optimization of airframe/propulsion integration is to find the set of Pareto optimal solutions that satisfy constraints and requirements on performance of airframe/propulsion integration, and furthermore to provide several design plans that are optional for designers, which is of great importance for the integrated design of airframe/propulsion for hypersonic vehicles.MDO is a methodology to design complex systems and subsystems by exploring and making full use of synergic mechanisms of interactions in systems [1]. Details about the developments of the main ideology, contents and key techniques of MDO are elaborated in papers [2-4]. II MULTI-OBJECTIVE MULTIDISCIPLINARY DESIGN OPTIMIZATION OF AIRFRAME/PROPULSION INTEGRATIONBased on the analysis of coupling relationships between disciplines, the strongly coupled system of a hypersonic vehicle is decomposed into multidisciplinary systems that are relatively independent and autonomous by means of appending design variables. In the meantime, the consistency of interdisciplinary coupling constraints is enforced by applying equation constraints in each discipline. In such a way, all disciplines and co-evolutionary multi-objective optimization algorithm can be combined to establish the mappings between populations and disciplines, so that a multi-population self-adaptive co-evolutionary design optimization model is generated. The Pareto solution set is obtained through the storage mechanism of Pareto solutions. A. Design Optimization ModelSystem performance indicators, design variables and constraints play fatal roles for multi-objective multidisciplinary design optimization of airfr...
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