TOPOLOGY AUTOMATION AND OPTIMIZATION OF PLANAR LINKAGE MECHANISMS BASED ON MODULAR KINEMATICS
Part Of
Proceedings of the ASME Design Engineering Technical Conference
Journal Volume
5
Start Page
v005t08a002
ISBN (of the container)
9780791889251
ISBN
9780791889251
Date Issued
2025
Author(s)
Abstract
This paper presents a planar mechanism synthesis approach based on genetic algorithms, which decomposes the mechanism into three design features: joint positions, joint constraints, and linkage generation. To ensure the availability of the generated mechanisms, two feasibility checks are implemented. To increase the diversity of input joint types, this paper introduces gear joints in addition to revolute and prismatic joints as options for input joints. Finally, all types of input joints, input links, and second-order, second-class modules are categorized. This paper introduces the automatic modular analysis method, which automatically decomposes complex mechanisms into input links and several second-order, second-class modules for kinematic analysis. This method overcomes the computational challenges associated with traditional kinematic analysis when dealing with complex mechanisms. Finally, two examples are presented to demonstrate that this method not only generates simplified configurations while satisfying target trajectories but also enables to create novel mechanisms under unknown configurations, thereby disrupting existing design conventions. In conclusion, integrating genetic algorithms with the automated modular analysis process enables the transformation of mechanism generation, analysis, and optimization into a highly efficient and automated procedure.
Event(s)
ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2025, Anaheim, 17 August 2025 - 20 August 2025
Subjects
genetic algorithm
kinematic synthesis
modular analysis
Publisher
American Society of Mechanical Engineers (ASME)
Type
conference paper