Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10248109" target="_blank" >RIV/61989100:27230/21:10248109 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2076-3417/11/21/10193/htm" target="_blank" >https://www.mdpi.com/2076-3417/11/21/10193/htm</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app112110193" target="_blank" >10.3390/app112110193</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components

Popis výsledku v původním jazyce

The design of a manipulator arm, which is built from a construction kit, is presented in this article. The procedure is based on the results of the discrete optimization of a truss structure and its application to a simple component system (assuming a predefined shape and material of components). A genetic algorithm is used to optimize the truss structure, and the results of the solution are verified on a simple task used in literature (the code was written in the Python language). The construction kit was inspired by Merkur(R), and the article proposes several components with different shapes and materials. The construction kit and the optimization of the truss structure were used to design the manipulator arm. The truss topology has been predefined with respect to the construction set. The finite element method (software ANSYS(R)) was used to analyze the components (shell elements) and truss structures (linear analysis, buckling analysis, etc.). To validate the presented approach, the arm designed by topological optimization was used. The comparison shows that the use of components may be an alternative to topology optimization and additive manufacturing. The next step will be the modification of the presented method in order to minimize the differences between the simplified task used for optimization (truss structure-rod element) and the simulation composed of components (components assembly-shell element).

Název v anglickém jazyce

Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components

Popis výsledku anglicky

The design of a manipulator arm, which is built from a construction kit, is presented in this article. The procedure is based on the results of the discrete optimization of a truss structure and its application to a simple component system (assuming a predefined shape and material of components). A genetic algorithm is used to optimize the truss structure, and the results of the solution are verified on a simple task used in literature (the code was written in the Python language). The construction kit was inspired by Merkur(R), and the article proposes several components with different shapes and materials. The construction kit and the optimization of the truss structure were used to design the manipulator arm. The truss topology has been predefined with respect to the construction set. The finite element method (software ANSYS(R)) was used to analyze the components (shell elements) and truss structures (linear analysis, buckling analysis, etc.). To validate the presented approach, the arm designed by topological optimization was used. The comparison shows that the use of components may be an alternative to topology optimization and additive manufacturing. The next step will be the modification of the presented method in order to minimize the differences between the simplified task used for optimization (truss structure-rod element) and the simulation composed of components (components assembly-shell element).

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20100 - Civil engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

21

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

28

Strana od-do

1-28

Kód UT WoS článku

000726591600001

EID výsledku v databázi Scopus

2-s2.0-85118418228