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Machines
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Motion Optimization of Mechanical Structures
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Motion Optimization of Mechanical Structures

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Machine Design and Theory".

Deadline for manuscript submissions: closed (15 January 2024) | Viewed by 7293

Special Issue Editors

Dr. Zoltán Virág

E-Mail Website
Guest Editor
Institute of Mining and Geotechnical Engineering, University of Miskolc, H-3515 Miskolc, Hungary
Interests: optimization; logistics; mining and hauling equipment; finite elements; steel structures
Prof. Dr. Florin Dumitru Popescu

E-Mail Website
Guest Editor
Department of Mechanical, Industrial and Transport Engineering, University of Petroșani, 332009 Petroșani, Romania
Interests: modelling and simulation in mechanical engineering; FEA/FEM; mining and mechanical equipment and machines; structures; vibrations; numeric analysis
Dr. Andrei Andras

E-Mail Website
Guest Editor
Department of Mechanical, Industrial and Transport Engineering, University of Petroșani, 332009 Petroșani, Romania
Interests: mining techniques and equipment; modelling and simulation; mechanical engineering
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Motion control is a key requirement in many fields, such as engineering, micromanufacturing, biotechnology, and nanotechnology. Although great advances have been made in control engineering, it is still challenging to achieve the desired performance level in precision motion control systems. Substantial research reveals an increasing trend of applying optimization approaches in precision engineering to obtain the control system parameters. Trajectory optimization is often difficult as obstacles and complex dynamics must be considered. Movement generation is increasingly formalized as a large-scale optimization of the future outcome of actions. In high-dimensional manipulation platforms, this optimization is so computationally complex that traditional approaches have long focused primarily on solution feasibility rather than local optimality. Efforts to holistically understand the optimization problem and exploit the structure of the problem to increase computational efficiency begin to pay off. There are very fast constrained optimizers that use second-order information to enhance convergence and exploit the geometry of the problem much more efficiently than conventional planners.

This Special Issue is devoted to state-of-the-art research on reliability technologies and applications for mechanical equipment and their subsystems and components, such as robots, vehicles, machine tools, etc. We seek submissions with an original perspective and advanced thinking on the addressed themes. Research on theories, experiments, and engineering applications is welcome.

Dr. Zoltán Virág
Prof. Dr. Florin Dumitru Popescu
Dr. Andrei Andras
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • optimization
  • simulation
  • path planning
  • feedback control
  • mechanism
  • machine tools
  • robotics

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Published Papers (4 papers)

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Research

19 pages, 5490 KiB  
Article
A New Kinematic Synthesis Model of Spatial Linkages for Designing Motion and Identifying the Actual Dimensions of a Double Ball Bar Test Based on the Data Measured
by Zuping Liao, Shouchen Tang and Delun Wang
Machines 2023, 11(9), 919; https://doi.org/10.3390/machines11090919 - 21 Sep 2023
Cited by 1 | Viewed by 1241
Abstract
This paper presents the new synthesis models of spatial linkages for designing measurement motion functions and ranges and identifying the actual dimension parameters. The spatial five-bar linkage is first introduced for the kinematic model of a double ball bar test of a two-axis [...] Read more.
This paper presents the new synthesis models of spatial linkages for designing measurement motion functions and ranges and identifying the actual dimension parameters. The spatial five-bar linkage is first introduced for the kinematic model of a double ball bar test of a two-axis rotary table. To design the ideal measurement motion and motion range of the double ball bar test, a novel saddle synthesis model of a spatial four-bar linkage RRSS is readily presented. Based on the output data measured from the double ball bar test, a new saddle synthesis model of a spatial five-bar linkage RRSPS is logically proposed for identifying their actual dimensions. Finally, three test cases and their results indicate that the new synthesis models presented in the paper can conveniently and efficiently calculate the measurement motion function and range and accurately identify the actual dimensions of the double ball bar test, which provides a suitable mathematical model for improving the accuracy of the double ball bar tests of a two-axis rotary table of machine tools. Full article
(This article belongs to the Special Issue Motion Optimization of Mechanical Structures)
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12 pages, 1512 KiB  
Article
Repeated Collision of a Planar Robotic Arm with a Surface Using Generalized Active Forces
by Ahmet Faruk Akhan, Jing Zhao, Daniela Tarnita and Dan B. Marghitu
Machines 2023, 11(8), 773; https://doi.org/10.3390/machines11080773 - 25 Jul 2023
Cited by 1 | Viewed by 1158
Abstract
The periodic impact of a planar two-arm robot is investigated in this study. Lagrange’s equations of motion are developed, and the symbolic expression of the generalized active forces are used for the control torques. The actuator torques derived with generalized active forces are [...] Read more.
The periodic impact of a planar two-arm robot is investigated in this study. Lagrange’s equations of motion are developed, and the symbolic expression of the generalized active forces are used for the control torques. The actuator torques derived with generalized active forces are compared with PD and PID controllers. The robot collides with a rebound on a rough surface. Different nonlinear functions describe the three stages of the impact: elastic compression, elasto-plastic compression, and elastic restitution. A Coulomb model describes the friction force and the sliding velocity at the impact point. At the end of the impact period, the kinetic energy of the non-impacting link is increasing, and the total kinetic energy of the robot decreases. The motion of the robot with generalized active forces controllers is periodic. The important implication of this study is the generalized forces controller and the impact with friction for the periodic robot. Full article
(This article belongs to the Special Issue Motion Optimization of Mechanical Structures)
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19 pages, 4060 KiB  
Article
Synthesis of Compliant Parallel Mechanisms Using an Improved Beam-Based Method with the Optimization of Multiple Resonant Modes
by Vin Low, Song Huat Yeo and Minh Tuan Pham
Machines 2023, 11(7), 731; https://doi.org/10.3390/machines11070731 - 12 Jul 2023
Cited by 1 | Viewed by 1118
Abstract
This paper proposes an improved beam-based method to synthesize a compliant parallel mechanism (CPM) with multiple degrees of freedom (DoFs). The proposed method utilizes a structural optimization technique to synthesize a three-legged CPM with a single-beam structure constructed by two perpendicular segments in [...] Read more.
This paper proposes an improved beam-based method to synthesize a compliant parallel mechanism (CPM) with multiple degrees of freedom (DoFs). The proposed method utilizes a structural optimization technique to synthesize a three-legged CPM with a single-beam structure constructed by two perpendicular segments in each leg to achieve the desired DoFs and fully decoupled motion. In addition, an objective function is proposed to optimize the primary resonant frequencies in actuating directions to targeted values to achieve the desired dynamic behaviors. A 4-DoF CPM, with one translation and three rotations, is synthesized using the improved beam-based method and all of the primary resonant frequencies are optimized to the targeted values. The 4-DoF CPM prototype is fabricated monolithically and evaluated experimentally in terms of its mechanical characteristics, workspace, and resonant modes. The obtained results show that the experimental stiffness and dynamic properties agree with the predictions. In particular, the prototype has good motion decoupling capability, as reflected by the high stiffness ratios of more than 500 between the non-actuating and actuating directions; the large workspaces of up to 4.0 mm and 7.2° for the translation and rotations, respectively; and the resonant frequencies being close to the targeted ones. In addition, the highest deviations between the predicted and experimental results are 9.49% and 9.13% for the stiffness and dynamic behaviors, respectively, demonstrating the correctness and effectiveness of the proposed method. Full article
(This article belongs to the Special Issue Motion Optimization of Mechanical Structures)
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19 pages, 7695 KiB  
Article
Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling
by Silviu Mihai Petrişor, Mihaela Simion, Ghiţã Bârsan and Olimpiu Hancu
Machines 2023, 11(5), 548; https://doi.org/10.3390/machines11050548 - 12 May 2023
Cited by 5 | Viewed by 2734
Abstract
The paper proposes an original mechanical structure of a serial-tracked robot, subject of national invention patent number RO132301, B1/2021, destinated for humanitarian demining operations: anti-personnel mine detection by using a detection device mounted on the bottom’s tracked platform, demining and clearing the land [...] Read more.
The paper proposes an original mechanical structure of a serial-tracked robot, subject of national invention patent number RO132301, B1/2021, destinated for humanitarian demining operations: anti-personnel mine detection by using a detection device mounted on the bottom’s tracked platform, demining and clearing the land of exploded mines using a TRTTR robot structure. The dynamic model of the robot structure is determined and numerically validated. A novel approach based on the Lagrange formalism and mechanical design equations has been used in the calculus and selection of robot driving motors. The obtained results for robot translation modules are presented and analyzed. Full article
(This article belongs to the Special Issue Motion Optimization of Mechanical Structures)
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