Multi-objective optimization of the chebyshev lambda mechanism

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

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.

• Jezik: Angleški jezik
• Ključne besede: chebyshev lambda mechanism, optimization, synthesis, walking mechanism
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FS - Fakulteta za strojništvo
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Datum objave: 01.12.2022
• Leto izida: 2022
• Št. strani: Str. 725-734
• Številčenje: Vol. 68, no. 12
• PID: 20.500.12556/RUL-143757
• UDK: 621.8
• ISSN pri članku: 0039-2480
• DOI: 10.5545/sv-jme.2022.349
• COBISS.SI-ID: 137169155
• Datum objave v RUL: 11.01.2023

Gradivo je del revije

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

Licence

• Licenca: CC BY-NC 4.0, Creative Commons Priznanje avtorstva-Nekomercialno 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by-nc/4.0/deed.sl
• Opis: Licenca Creative Commons, ki prepoveduje komercialno uporabo, vendar uporabniki ne rabijo upravljati materialnih avtorskih pravic na izpeljanih delih z enako licenco.

Sekundarni jezik

• Jezik: Slovenski jezik
• Naslov: Večciljna optimizacija mehanizma Čebišov Lambda
• Ključne besede: mehanizem Čebišov Lambda, optimizacija, sinteza, hodni mehanizem