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Motion capability analysis of a quadruped robot as a parallel manipulator
Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI
Front. Mech. Eng.. 2014, 9 (4): 295-307.
https://doi.org/10.1007/s11465-014-0317-7
This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.
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Multi-objective genetic algorithms based structural optimization and experimental investigation of the planet carrier in wind turbine gearbox
Pengxing YI,Lijian DONG,Tielin SHI
Front. Mech. Eng.. 2014, 9 (4): 354-367.
https://doi.org/10.1007/s11465-014-0319-5
To improve the dynamic performance and reduce the weight of the planet carrier in wind turbine gearbox, a multi-objective optimization method, which is driven by the maximum deformation, the maximum stress and the minimum mass of the studied part, is proposed by combining the response surface method and genetic algorithms in this paper. Firstly, the design points’ distribution for the design variables of the planet carrier is established with the central composite design (CCD) method. Then, based on the computing results of finite element analysis (FEA), the response surface analysis is conducted to find out the proper sets of design variable values. And a multi-objective genetic algorithm (MOGA) is applied to determine the direction of optimization. As well, this method is applied to design and optimize the planet carrier in a 1.5 MW wind turbine gearbox, the results of which are validated by an experimental modal test. Compared with the original design, the mass and the stress of the optimized planet carrier are respectively reduced by 9.3% and 40%. Consequently, the cost of planet carrier is greatly reduced and its stability is also improved.
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Analysis of dispatching rules in a stochastic dynamic job shop manufacturing system with sequence-dependent setup times
Pankaj SHARMA,Ajai JAIN
Front. Mech. Eng.. 2014, 9 (4): 380-389.
https://doi.org/10.1007/s11465-014-0315-9
Stochastic dynamic job shop scheduling problem with consideration of sequence-dependent setup times are among the most difficult classes of scheduling problems. This paper assesses the performance of nine dispatching rules in such shop from makespan, mean flow time, maximum flow time, mean tardiness, maximum tardiness, number of tardy jobs, total setups and mean setup time performance measures viewpoint. A discrete event simulation model of a stochastic dynamic job shop manufacturing system is developed for investigation purpose. Nine dispatching rules identified from literature are incorporated in the simulation model. The simulation experiments are conducted under due date tightness factor of 3, shop utilization percentage of 90 % and setup times less than processing times. Results indicate that shortest setup time (SIMSET) rule provides the best performance for mean flow time and number of tardy jobs measures. The job with similar setup and modified earliest due date (JMEDD) rule provides the best performance for makespan, maximum flow time, mean tardiness, maximum tardiness, total setups and mean setup time measures.
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Scrutiny of non-linear differential equations Euler-Bernoulli beam with large rotational deviation by AGM
M. R. AKBARI,M. NIMAFAR,D. D. GANJI,M. M. AKBARZADE
Front. Mech. Eng.. 2014, 9 (4): 402-408.
https://doi.org/10.1007/s11465-014-0316-8
The kinematic assumptions upon which the Euler-Bernoulli beam theory is founded allow it to be extended to more advanced analysis. Simple superposition allows for three-dimensional transverse loading. Using alternative constitutive equations can allow for viscoelastic or plastic beam deformation. Euler-Bernoulli beam theory can also be extended to the analysis of curved beams, beam buckling, composite beams and geometrically nonlinear beam deflection. In this study, solving the nonlinear differential equation governing the calculation of the large rotation deviation of the beam (or column) has been discussed. Previously to calculate the rotational deviation of the beam, the assumption is made that the angular deviation of the beam is small. By considering the small slope in the linearization of the governing differential equation, the solving is easy. The result of this simplification in some cases will lead to an excessive error. In this paper nonlinear differential equations governing on this system are solved analytically by Akbari-Ganji’s method (AGM). Moreover, in AGM by solving a set of algebraic equations, complicated nonlinear equations can easily be solved and without any mathematical operations such as integration solving. The solution of the problem can be obtained very simply and easily. Furthermore, to enhance the accuracy of the results, the Taylor expansion is not needed in most cases via AGM manner. Also, comparisons are made between AGM and numerical method (Runge-Kutta 4th). The results reveal that this method is very effective and simple, and can be applied for other nonlinear problems.
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