OPTIMAL SYNTHESIS OF A MANIPULATOR USING TWO COMPETITIVE METHODS

Abstract This paper defines a program realization for finding the optimal geometry of a planar Z-mechanism. The paper shows the mathematical procedure for defining the objective function, the constraint function and the search fields which are used for solving the optimization problem. Starting from the solutions in practice, a numerical example is given to determine an optimum design with four optimization parameters. All the optimization parameters are geometric on the mechanism for defining the bucket position. The problem is solved by two different numerical methods - the method of formal search of hyperspace (passive scanning method) and the approximate method of Sequential Quadratic Programming - SQP (applying the function fminmax of the Matlab optimization toolbox). The verification is performed with animation using software for geometric modeling. The results are graphically illustrated. References Radić, M., Marinković, Z., Jovanović, M., 2002, Dynamics and optimization of cranes, University of Niš, Faculty of Mechanical Engineering, scientific monograph, Niš (in Serbian) Jain, A., Issac, K.K., 2003, Optimal Design of Front End Loader Attachment for Tractors, Proc. Eleventh National Conference on Machines and Mechanisms NaCoMM 2003, Indian Institute of Technology Delhi, New Delhi. İpek, L., 2006, Optimization of backhoe-loader mechanisms, Master Thesis, Middle East Technical University, Turkey, 71 pp. Zhang, R., Qi, J., Cai, Y., 2007, Optimum Design of the Working Mechanism of Loader With Ant Colony Algorithm (ACA), Proc. Fourth International Conference on Mechatronics and Automation ICMA 2007, Harbin, China, pp 3066 ? 3070. Cao, X., Cleghorn, W., 2011, Parametric Optimization of Eight-bar Mechanism of a Wheel Loader Based on Simulation, Information Technology Journal 10(9), pp. 1801-1808. Papazov, P. S., 1975, Optimal Design of Electromagnetic Systems, Tehnika, Sofia. Vujčić, V., Ašić, M., Miličić, N., 1980, Matematičko programiranje, Matematical Institute, University of Belgrade. Yu, Y., Lianguan, S., Mujun, L., 2010, Optimum design of working device of wheel loader, Proc. First International Conference Mechanic Automation and Control Engineering MACE 2010, Wuhan, China. Xiuhua, G., Yunchao, W., Erzhong, A., Jiawei, H., 2007, Optimization of the Working Device of Loader Based on ADAMS, Computer Simulation Journal, 1(1). Zhang, R., Qi, J., Cai, Y., 2008, Intelligent optimum design of the working mechanism of loader, Proc. Seventh World Congress on Intelligent Control and Automation WCICA 2008, Chongqing, China. Komatsu WA320, http://www.komatsu.com/ce/products/pdfs/WA320-5.pdf, (accessed January 25, 2014). Arora, S. J., 2007, Optimization of Structural and Mechanical Systems, University of Iowa, Iowa, 595 pp. Venkataraman, P., 2009, Applied Optimization with MATLAB Programming, Wiley, 544 pp.