Topology optimization of planar linkage mechanisms for path generation without prescribed timing

Han, Sang Yong; Kim, Suh In; Kim, Yoon Young

doi:10.1007/s00158-017-1712-6

Cited by 20 publications

(8 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…s , and 2 s . Note that the vectors 1 s and 2 s in problem (13) are regarded as reactions for unilateral and bilateral contact constraints in problem (12).…”

Section: Definition Of Variablesmentioning

confidence: 99%

See 1 more Smart Citation

Second-Order Cone Programming Approach to Design of Linkage Mechanisms With Arbitrarily Inclined Hinges

Ohsaki

Kanno

Yamaoka

2018

Journal of Mechanical Design

View full text Add to dashboard Cite

An optimization approach is presented for generating linkage mechanisms consisting of frame members with arbitrarily inclined hinges. A second-order cone programming (SOCP) problem is solved to obtain the locations and directions of hinges of an infinitesimal mechanism. It is shown that the primal and dual SOCP problems correspond to the plastic limit analysis problems based on the lower-bound and upper-bound theorems, respectively, with quadratic yield functions. Constraints on displacement components are added to the dual problem, if a desirable deformation is not obtained. A finite mechanism is generated by carrying out geometrically nonlinear analysis and, if necessary, adding hinges and removing members. Effectiveness of the proposed method is demonstrated through examples of two- and three-dimensional mechanisms.

show abstract

“…s , and 2 s . Note that the vectors 1 s and 2 s in problem (13) are regarded as reactions for unilateral and bilateral contact constraints in problem (12).…”

Section: Definition Of Variablesmentioning

confidence: 99%

“…Synthesis problem of mechanism can often be formulated as a numerical optimization problem [6][7][8][9]. The design problem of types and numbers of linkages can be formulated as topology optimization problems [10][11][12][13]. However, most of the existing numerical approaches can be applied only to planar mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Second-Order Cone Programming Approach to Design of Linkage Mechanisms With Arbitrarily Inclined Hinges

Ohsaki

Kanno

Yamaoka

2018

Journal of Mechanical Design

View full text Add to dashboard Cite

show abstract

“…Shaoping Bai et al [1] proposed a synthesis approach for a four-bar mechanism based on its coupler path. Sang Min Han et al [2] have dealt with a topology optimization based on Fourier descriptors for path generation synthesis. The proposed approach has been tested through a set of illustrative examples.…”

Section: Introductionmentioning

confidence: 99%

Computer-aided design tool for typical flexible mechanisms synthesis by means of evolutionary algorithms

Ben Abdallah,

Khemili,

Aifaoui

et al. 2024

Robotica

View full text Add to dashboard Cite

Accurate prediction for mechanisms’ dynamic responses has always been a challenging task for designers. For modeling easiness purposes, mechanisms’ synthesis and optimization have been mostly limited to rigid systems, making consequently the designer unable to vow that the manufactured mechanism satisfies the target responses. To address this limitation, flexible mechanism synthesis is aimed in this work. Two benchmark mechanisms being the core of myriad mechanical devices are of scope, mainly, the flexible slider-crank and the four-bar. In addition to the mechanism dimensions, materials properties have been embedded in the synthesis problem. Two responses are of interest for the slider-crank mechanism, the slider velocity, and the midpoint axial displacement for the flexible connecting rod. Whereas five responses have been compiled for the four-bar mechanism synthesis. A comparative analysis of seven optimization techniques to solve the synthesis problem for both mechanisms has been performed. Subsequently, an executable computer-aided design tool for mechanisms synthesis has been developed under MATLAB®. Numerical outcomes emphasize the limits of a single-response-based synthesis for a flexible mechanism. It has been proven that combining different responses alleviates possible error and fulfill high-accuracy requirement.

show abstract

“…Similarly, gradient computation can be difficult for highly nonlinear and sometimes discontinuous physical phenomena. As a result, most applications of topology optimization have been limited to static objects or passively moving objects composed of hard materials, such as oscillating structures [15][16][17] and linkages [18,19], despite ongoing efforts to extend the method [20,21].…”

Section: Introductionmentioning

confidence: 99%

4D topology optimization: Integrated optimization of the structure and movement of self-actuating soft bodies

Yuhn¹,

Yuki²,

Kobayashi³

et al. 2023

Preprint

View full text Add to dashboard Cite

Topology optimization is a powerful tool for designing structures in many fields but has been limited to static or passively moving objects made of hard materials. Designing soft and actively moving objects, such as soft robots equipped with actuators, is challenging because simulating dynamics problems is difficult and the optimal structure depends on how the object will move. We propose "4D topology optimization," which extends density-based topology optimization to include time, for simultaneously optimizing the structure and movement of self-actuating soft bodies. The method uses hierarchized and multi-indexed density variables distributed over the spatiotemporal design domain to represent the material layout, actuator layout, and time-varying actuation, thus allowing for simultaneous optimization of structure and movement with gradient-based methods. Forward and backward simulations of soft bodies are done using the material point method, a Lagrangian-Eulerian hybrid approach, implemented on a recent automatic differentiation framework. We present several numerical examples of self-actuating soft body designs targeted at performing locomotion, posture control, and rotation tasks. The results demonstrate that our method can successfully design soft bodies with complex structures and biomimetic movements because of its high degree of design freedom.

show abstract

Topology optimization of planar linkage mechanisms for path generation without prescribed timing

Cited by 20 publications

References 24 publications

Second-Order Cone Programming Approach to Design of Linkage Mechanisms With Arbitrarily Inclined Hinges

Second-Order Cone Programming Approach to Design of Linkage Mechanisms With Arbitrarily Inclined Hinges

Computer-aided design tool for typical flexible mechanisms synthesis by means of evolutionary algorithms

4D topology optimization: Integrated optimization of the structure and movement of self-actuating soft bodies

Contact Info

Product

Resources

About