Reference : Advances in optimization of flexible components in mutlibody systems: Application to rob...
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/2268/77502
Advances in optimization of flexible components in mutlibody systems: Application to robot-arms design
English
Duysinx, Pierre mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Ingénierie des véhicules terrestres >]
Emonts-Alt, Jonhatan [Université de Liège - ULg > Département d'aérospatiale et mécanique > > >]
Virlez, Geoffrey mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Ingénierie des véhicules terrestres >]
Bruls, Olivier mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Bruyneel, Michaël [Samtech SA > > > >]
Aug-2010
Proceedings of the 5th Asian Conference on Multibody Dynamics
No
No
5th Asian Conference on Multibody Dynamics
Du 23 au 26 août 2010
Kyoto
Japan
[en] flexible multibody dynamics ; Topology optimization ; robotics
[en] The paper considers the optimization of the flexible components of mechanical systems modeled as multibody systems. This approach aims at considering as precisely as possible the dynamic loading of the structural components under service conditions in their mechanical systems. While most of the structural optimization developments have been conducted under static or quasi static conditions, the approach is clearly a challenge. Naïve applications of this approach generally lead to fragile and unstable results. To elaborate a robust and reliable approach, we investigate and compare several formulations of the optimization problem. Different optimization algorithms are also tested. To explain the efficiency of the various solution approaches, the complex nature of the design space is investigated. The developments are illustrated using the test-case of the structural design of the links of a two-arm robot subject to a trajectory tracking constraint.
Researchers ; Professionals
http://hdl.handle.net/2268/77502

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