Hostname: page-component-848d4c4894-2pzkn Total loading time: 0 Render date: 2024-04-30T19:55:40.605Z Has data issue: false hasContentIssue false
  • English
  • Français

A min-max problem of optimal actuator placement for lifting

Published online by Cambridge University Press:  09 March 2009

L. Beiner
L. Beiner
Affiliation:
Center for Technological Education (affiliated with Tel-Aviv University), P.O. Box 305, Holon 58102 (Israel)
Get access Rights & Permissions [Opens in a new window]

Summary

The paper addresses the following problem: for a three-bar lifting linkage, find the locations of the two ends of the actuated link so as to minimize the maximum value of the force seen by the actuator over a specified range of arm angular positions. A simple analytical solution to this min-max problem is given, showing that the optimal locations are with the actuated link perpendicular either to the fixed link or to the lifting arm, when the arm is in a horizontal position. The method can be used to optimize the actuation of robots, doors, platforms, landing gears, etc., and allows to account for actuator length constraints. It can be extended also to Stewart's platform-type spatial manipulators.

Keywords

Min-Max problemActuator placementLiftingRobot applications
Type
Articles
Information
Robotica , Volume 13 , Issue 6 , November 1995 , pp. 619 - 622
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Erdman, A.G. and Sandor, G.N., Mechanism Design: Analysis and Synthesis, Vol. 1 (Prentice Hall, 1984) pp. 110–126.Google Scholar
2.Shoup, T.E., A Practical Guide to Computer Methods for Engineers (Prentice Hall, 1979).Google Scholar
3.Sutherland, G. and Roth, B., “A Transmission Index for Spatial Mechanisms” J. Engineering for Industry 589–597 (May, 1973).Google Scholar
4.Sutherland, G.H., “Quality of Motion and Force Transmission” Mechanism and Machine Theory 16, 221–225 (1981).Google Scholar
5.Gabriele, Gary A., “Optimization of Mechanisms” In: Modern Kinematics: Developments in the Last Forty Years (Erdman, A.G., ed.) (J. Wiley & Sons, New York, 1992) pp. 471–519.Google Scholar
6.Freudenstein, F., “On the Maximum and Minimum Velocities and Accelerations in Four-Link Mechanisms” Transactions of the ASME 78, 779–787 (1956).Google Scholar