RESEARCH PAPERS: Mechanisms Papers

Design of Multi-Degree-of-Freedom Mechanisms for Optimal Dynamic Performance

[+] Author and Article Information
Z. Shiller, S. Sundar

Mechanical, Aerospace and Nuclear Engineering Department, University of California, Los Angeles, CA 90024

J. Mech. Des 115(2), 199-206 (Jun 01, 1993) (8 pages) doi:10.1115/1.2919178 History: Received March 01, 1990; Online June 02, 2008


Design methods for selecting the actuator sizes and the link lengths of multi-degree-of-freedom mechanisms for minimum time motions along specified paths and between given end points are presented. The design problem is first formulated as a parameter optimization, using the actuator sizes and the link lengths as the design variables, and motion time along the path as the cost function. A more efficient method for obtaining near-optimal designs is then presented, based on the acceleration lines which have been shown to approximate the geometric shapes of time optimal paths [15]. Near-optimal designs are simply obtained by curve-fitting the acceleration lines to the desired path, or to the end points. Examples of the design of two and five-bar mechanisms demonstrate significant reductions in motion times for the optimal and the near-optimal designs, and significant savings in computation time for the approximate method.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Design
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In