Optimization design of a bionic horse’s leg system driven by a cam-linkage mechanism

Liu, Yiyang; Zhang, Jihao; Wang, Liangwen; Li, Liwei; Shi, Yalei; Xie, Guizhong; Wang, Xuemei

doi:10.1177/09544062221121997

Cited by 3 publications

(1 citation statement)

References 38 publications

(54 reference statements)

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“…By integrating the merits of both kinds of mechanisms, the cam-linkage mechanism can achieve superior kinematic performance while maintaining high reliability and compact structures. Due to such prominent abilities in realizing complex motion laws, the cam-linkage mechanism has been widely used in various machinery and automatic production equipment, such as textile machinery [1], packaging machines [2], rehabilitation devices [3], bionic horse robots [4], and parallel manipulators [5].…”

Section: Introductionmentioning

confidence: 99%

Parameter Optimization of Large-Size High-Speed Cam-Linkage Mechanism for Kinematic Performance

et al. 2022

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The cam-linkage mechanism is a typical transmission mechanism in mechanical science and is widely used in various automated production equipment. However, conventional modeling methods mainly focus on the design and dimensional synthesis of the cam-linkage mechanism in the slow-speed scenario. The influence of component dimensions is not taken into consideration. As a result, the model accuracy dramatically falls when analyzing large-size cam-linkage mechanisms, especially in high-speed environments. The kinematic aspects of cam design have been investigated, but there are few studies discussing the motion characteristic and accuracy analysis models of the large-size cam-linkage mechanism under high-speed scenarios. To handle such issues, this paper proposes a parameter optimization methodology for the design analysis of the large-size high-speed cam-linkage mechanism considering kinematic performance. Firstly, the mathematical model of the cam five-bar mechanism is presented. The cam curve and motion parameters are solved forward with linkage length and output speed. Then, a particle swarm-based multi-objective optimization method is developed to find the optimal structure parameters and output speed curve to minimize cam pressure angle and roller acceleration and maximize linkage mechanism drive angle. A Monte Carlo-based framework is put forward for the reliability and sensitivity analysis of kinematic accuracy. Finally, a transverse device of a sanitary product production line is provided to demonstrate the applicability of the proposed method. With the parameter optimization, the productivity of the transverse device is doubled, from 600 pieces per minute (PPM) to 1200 PPM.

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Section: Introductionmentioning

confidence: 99%

Parameter Optimization of Large-Size High-Speed Cam-Linkage Mechanism for Kinematic Performance

et al. 2022

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Design of the high-speed cam profile for the multi-DOF follower

Han,

Huang,

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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The multi-degree-of-freedom (multi-DOF) follower may suffer from unwanted vibrations when the cam works at the high speed. The vibrations will cause significant problems of positioning accuracy, noise, wear, forces, and operating costs for the cam-follower mechanism. It is challenging to design high-speed cam profiles for multi-DOF followers because of the complicated dynamics. A novel method is presented to design the cam profile in this article. A polynomial profile filters through a continuous-piecewise smoother to produce the cam profile. While the profile and their derivatives are continuous, the profile provides good performance on the vibration reduction for multi-DOF followers. Simulated and experimental results from a flexible-link manipulator validate the effectiveness of the cam profiles created by the new method.

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Reducing the undesirable effects of the planar conjugate cam linkage mechanism with multiple clearances

Chen,

Mao,

Zhu

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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The dynamic behavior of the mechanism is subject to the influence of the clearance in the joints. Existing methods for improving the mechanism’s performance usually focus on one type of clearance joint, ignoring the interaction among multiple different types of clearance joints. To address this gap, an optimization method is proposed to lower adverse impact forces and vibrations in planar conjugate cam linkage mechanisms with cam and revolute clearance joints. The contact force model of the clearance joint is formulated using the Flores contact force model and the modified Coulomb friction model. Based on these models and Lagrange’s equation of the first kind, the dynamic equations of the mechanism describe its behavior during operation. The optimization method is aimed at minimizing the peak of the mechanism’s maximum absolute acceleration by employing the whale optimization algorithm (WOA) to optimize the length of the linkages and the initial angles between them. Additionally, the slider stroke serves as a constraint function. Finally, the effectiveness of the approach is validated using an example of a planar conjugate cam linkage mechanism. Simulation results show a reduction of 65.8% in acceleration peaks and 64.2% in the clearance revolute joint maximum contact force.

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Optimization design of a bionic horse’s leg system driven by a cam-linkage mechanism

Cited by 3 publications

References 38 publications

Parameter Optimization of Large-Size High-Speed Cam-Linkage Mechanism for Kinematic Performance

Parameter Optimization of Large-Size High-Speed Cam-Linkage Mechanism for Kinematic Performance

Design of the high-speed cam profile for the multi-DOF follower

Reducing the undesirable effects of the planar conjugate cam linkage mechanism with multiple clearances

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