Multi-objective optimization of the chebyshev lambda mechanism

Miler, Daniel (author), Birt, Dominik (author), Hoić, Matija (author)

Walking mechanisms are a solution for cases in which wheels are not applicable, such as uneven or stepped surfaces and surfaces withobstacles. Furthermore, it is possible to tailor mechanism footpaths to expected working conditions through optimization. Thus, in this paper, a mechanism optimization process was proposed, focusing on single-leg performance. Numerical Simulink calculations were used to determine objective function values, which were then input to a non-dominated sorting genetic algorithm (NSGA-II) for optimization. In each following generation, NSGA-II provided a new set of units for evaluation. The procedure was applied to the single leg of the Chebyshev lambda mechanism to better illustrate it, enabling a comprehensive analysis of candidates. Four objective functions (i.e., length in the x-direction, trajectory height variation, maximum foot acceleration, and foot speed fluctuation) were used to carry out a multi-objective optimization. The calculation time was approximately 2 s/unit.

• Language: English
• Keywords: chebyshev lambda mechanism, optimization, synthesis, walking mechanism
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FS - Faculty of Mechanical Engineering
• Publication status: Published
• Publication version: Version of Record
• Publication date: 01.12.2022
• Year: 2022
• Number of pages: Str. 725-734
• Numbering: Vol. 68, no. 12
• PID: 20.500.12556/RUL-143757
• UDC: 621.8
• ISSN on article: 0039-2480
• DOI: 10.5545/sv-jme.2022.349
• COBISS.SI-ID: 137169155
• Publication date in RUL: 11.01.2023

Record is a part of a journal

• Title: Strojniški vestnik
• Shortened title: Stroj. vestn.
• Publisher: Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Licences

• License: CC BY-NC 4.0, Creative Commons Attribution-NonCommercial 4.0 International
• Link: http://creativecommons.org/licenses/by-nc/4.0/
• Description: A creative commons license that bans commercial use, but the users don’t have to license their derivative works on the same terms.

Secondary language

• Language: Slovenian
• Title: Večciljna optimizacija mehanizma Čebišov Lambda
• Keywords: mehanizem Čebišov Lambda, optimizacija, sinteza, hodni mehanizem