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Journal of Zhejiang University SCIENCE A 2011 Vol.12 No.9 P.665-679

http://doi.org/10.1631/jzus.A1000052


Analysis and optimal synthesis of single loop spatial mechanisms


Author(s):  Med Amine Laribi, Lotfi Romdhane, Saïd Zeghloul

Affiliation(s):  Laboratoire de Génie Mécanique, LAB-MA-05, Ecole Nationale d’Ingénieurs de Sousse, 4000 Sousse, Tunisia, Institut Pprime-UPR 3346, CNRS-Université de Poitiers-ENSMA, Département Génie Mécanique et Systémes Complexes, SP2MI, BP30179 86962 Futuroscope, France

Corresponding email(s):   med.amine.laribi@univ-poitiers.fr

Key Words:  Spatial mechanisms, Genetic algorithm-fuzzy logic (GA-FL) method, Denevit-Hartenberg parameters, Mechanism synthesis


Med Amine Laribi, Lotfi Romdhane, Saïd Zeghloul. Analysis and optimal synthesis of single loop spatial mechanisms[J]. Journal of Zhejiang University Science A, 2011, 12(9): 665-679.

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author="Med Amine Laribi, Lotfi Romdhane, Saïd Zeghloul",
journal="Journal of Zhejiang University Science A",
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number="9",
pages="665-679",
year="2011",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A1000052"
}

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%T Analysis and optimal synthesis of single loop spatial mechanisms
%A Med Amine Laribi
%A Lotfi Romdhane
%A Saïd Zeghloul
%J Journal of Zhejiang University SCIENCE A
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%P 665-679
%@ 1673-565X
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A1000052

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T1 - Analysis and optimal synthesis of single loop spatial mechanisms
A1 - Med Amine Laribi
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A1 - Saïd Zeghloul
J0 - Journal of Zhejiang University Science A
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SP - 665
EP - 679
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A1000052


Abstract: 
In this work, a systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-Hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm (GA) has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RSCR and RSPC (R: revolute; S: spherical; C: cylindrical; P: prismatic), have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic (GA-FL) method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither difficulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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