Optimal Design and Analysis of Planar Path Generators with Joint Clearance
Date Issued
2012
Date
2012
Author(s)
Kang, Chao-Yuan
Abstract
The existence of clearances in revolute joints during manufacturing and assembling processes is essential for smooth motion of a mechanism. However, clearances frequently lead to positioning and orientation errors, especially for precision mechanisms. This thesis presents a methodology for designing planar four-bar and hybrid five-bar path generating mechanisms with single joint clearance. The position error due to clearance in the revolute joint is also investigated. In the analysis, differential evolution is first applied to initialize dimensions of path generating mechanism without clearances. The joint clearance is then treated as a massless virtual link base on the concept of equivalent clearance link. To obtain direction of the joint clearance, genetic algorithm is employed to solve the Lagrange equation of the path generating mechanism with joint clearance. Finally, the path generating mechanism is optimized by employing differential evolution again. The proposed method takes clearance into consideration to obtain the optimal design of a four-bar or hybrid five-bar path generating mechanism. It is shown to be effective in reducing the positioning error of the path generating mechanism due to clearance. Advantages of the proposed method include fast convergence to optimal solution, simplicity of application, and easy computer programming.
Subjects
hybrid five-bar mechanism
joint clearance
optimal dimensional synthesis
differential evolution
genetic algorithm
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-101-R99522537-1.pdf
Size
23.54 KB
Format
Adobe PDF
Checksum
(MD5):7f9a16744bb20e26c104fb5d99e2c2d3