Shape Optimization of Dynamically Balanced Planar Four-bar Mechanism

Chaudhary, Kailash; Chaudhary, Himanshu

doi:10.1016/j.procs.2015.07.378

Cited by 7 publications

(6 citation statements)

References 18 publications

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“…The paper [3] presents an optimization method for finding the link shapes for a dynamically balanced flat four-link mechanism. The force of shock and the moment of shock, arising in the mechanism due to inertia, are minimized due to the optimal distribution of the masses of the links.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Analytical solution of the problem of dynamic synthesis of a six-link straight-line converting mechanism of the sucker-rod pumping drive

Rakhmatulina

Imanbayeva²,

Ibrayev³

et al. 2021

EEJET

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The paper presents an analytical solution to the problem of optimal dynamic balancing of the six-link converting mechanism of the sucker-rod pumping unit. This problem is solved numerically using a computer model of dynamics, namely by selecting the value of the correction factor k. Here we will consider an analytical method for solving this problem, that is, we find the location of the counterweight on the third link of the six-link converting mechanism for balancing. To solve the problem, we use the principle of possible displacement and write an equation where we express the torque through the unknown parameter of the counterweight. Further, such a value of the unknown parameter is found, at which the minimum of the root-mean-square value of torque M is reached. From the condition of the minimum of the function, we obtain an equation for determining the location of the counterweight. Thus, we obtain an analytical solution to the problem of optimal dynamic balancing of the six-link converting mechanism of the sucker-rod pumping drive in various settings. According to the results, it was found that with the combined balancing method, the value of the maximum torque M and the value of the maximum power are reduced by 20 % than when the counterweight is placed on the third link of the converting mechanism, as well as when the value of the maximum torque is determined through the correction factor k. In practice, balancing is carried out empirically by comparing two peaks of torque M on the crank shaft per cycle of the mechanism movement. Solving the analytical problem, we determine the exact location of the counterweight.

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Section: Literature Review and Problem Statementmentioning

confidence: 99%

Analytical solution of the problem of dynamic synthesis of a six-link straight-line converting mechanism of the sucker-rod pumping drive

Rakhmatulina

Imanbayeva²,

Ibrayev³

et al. 2021

EEJET

View full text Add to dashboard Cite

show abstract

“…Practical ways to move the CoM of the system and to make it stationary have been to add a set of counterweights [2][3][4][5], to add auxiliary structures [6][7][8][9], or to modify the form of the links from the early design phase [10][11][12]. A comprehensive review of the methods with illustrative examples can be seen in Reference [13].…”

Section: Introductionmentioning

confidence: 99%

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

et al. 2020

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The problem of shaking force balancing of robotic manipulators, which allows the elimination or substantial reduction of the variable force transmitted to the fixed frame, has been traditionally solved by optimal mass redistribution of the moving links. The resulting configurations have been achieved by adding counterweights, by adding auxiliary structures or, by modifying the form of the links from the early design phase. This leads to an increase in the mass of the elements of the mechanism, which in turn leads to an increment of the torque transmitted to the base (the shaking moment) and of the driving torque. Thus, a balancing method that avoids the increment in mass is very desirable. In this article, the reduction of the shaking force of robotic manipulators is proposed by the optimal trajectory planning of the common center of mass of the system, which is carried out by "bang-bang" profile. This allows a considerable reduction in shaking forces without requiring counterweights, additional structures, or changes in form. The method, already presented in the literature, is resumed in this case using a direct and easy to automate modeling technique based on fully Cartesian coordinates. This permits to express the common center of mass, the shaking force, and the shaking moment of the manipulator as simple analytic expressions. The suggested modeling procedure and balancing technique are illustrated through the balancing of the 3RRR planar parallel manipulator (PPM). Results from computer simulations are reported.

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“…Generally, shaking force and shaking moment are considered two objectives in balancing the mechanisms. Thus multi-objective optimization problem with minimization of the shaking force and the shaking moment is formulated (Chaudhary and Chaudhary, 2015). The formulated problem can be solved using two approaches i.e.…”

Section: Introductionmentioning

confidence: 99%

Dynamic balancing of the cleaning unit used in agricultural thresher using a non-dominated sorting Jaya algorithm

Singh

Chaudhary

2020

Self Cite

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Purpose This paper aims to propose a dynamically balanced mechanism for cleaning unit used in agricultural thresher machine using a dynamically equivalent system of point masses. Design/methodology/approach The cleaning unit works on crank-rocker Grashof mechanism. This mechanism can be balanced by optimizing the inertial properties of each link. These properties are defined by the dynamic equivalent system of point masses. Parameters of these point masses define the shaking forces and moments. Hence, the multi-objective optimization problem with minimization of shaking forces and shaking moments is formulated by considering the point mass parameters as the design variables. The formulated optimization problem is solved using a posteriori approach-based algorithm i.e. the non-dominated sorting Jaya algorithm (NSJAYA) and a priori approach-based algorithms i.e. Jaya algorithm and genetic algorithm (GA) under suitable design constraints. Findings The mass, center of mass and inertias of each link are calculated using optimum design variables. These optimum parameters improve the dynamic performance of the cleaning unit. The optimal Pareto set for the balancing problem is measured and outlined in this paper. The designer can choose any solution from the set and balance any real planar mechanism. Originality/value The efficiency of the proposed approach is tested through the existing cleaning mechanism of the thresher machine. It is found that the NSJAYA is computationally more efficient than the GA and Jaya algorithm. ADAMS software is used for the simulation of the mechanism.

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Shape Optimization of Dynamically Balanced Planar Four-bar Mechanism

Cited by 7 publications

References 18 publications

Analytical solution of the problem of dynamic synthesis of a six-link straight-line converting mechanism of the sucker-rod pumping drive

Analytical solution of the problem of dynamic synthesis of a six-link straight-line converting mechanism of the sucker-rod pumping drive

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

Dynamic balancing of the cleaning unit used in agricultural thresher using a non-dominated sorting Jaya algorithm

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