Paper Title Coupled linkage system optimization for minimum power consumption

Description
Mechanism Z-bar mechanism used in Wheel loader
Position, kinematic
and dynamic analysis
The geometric model of the loader mechanism used in Doosan DL400A is
setup. (on paper)
All the dependent and independent parameters such as link lenghts,
realtive angles between links, cylinder strokes etc are defined.
The kinematic model is setup using Jacobian matrix (for realtive velo. and
acc. Of links)
The dynamic model is established by decoupling the linkage. Equations in
form of matrices for torques applied by cylinders are written
Optimization method
Branch stretching type
exhaustive search methods
Optimization
constriants
Constraints are placed on: a) The cylinder stroke b) The bucket angles at
various points. The no information about how the path of bucket is
defined is given.
For the dynamic model, the input is typical profile of external force on
bucket for 1 cycle
Design variables
NO information about fixed variables is given. It seems all the link lenghts
are to be optimized.
Optimization goals
Minimize the max. power consumed by lift cylinder and the bucket
cylinder.
Misc Notes: The digging force is an input.
We may say that cylinder stroke is optimized indirectly because total
power consumed by hydraulic cylinders is optimized
What degree of parallel lift is really needed?
What is the optimization method used by existing software?
How to define the concept of global optimum ?
defining parameters in software is easy way out instead of setting up kinematic and dynamic models analytically.
When optimization goals are contradictory, appropriate weightages should be given to them in the multi-objective function.
Remarks/Further
questions to be
addressed
Once the model is optimized, links can be designed against static loads, is
there need to consider the fatigue loading effect? How to find out peak
forces(dynamic load> than static loads) during a lifting cycle?
Parametric optimization of an eight bar mechanism of a wheel loader based on
simulation
Parallel lift mechanism in Backhoe loader
The geometry of loader mechanism is modelled in ADAMS. Nothing is mentioned
about the origin of data.
A table of points is created in ADAMS. The table contains (x,y) coordinates of all
the key points.
Optimization method employed by ADAMS
For simulation, the motion profile of lifting and bucket cylinders are given. E.g
the lift cylinder expands 700mm and bucket rotates 45deg in 1 lift cycle.
Constraints on the angles in sub-4 bar-chains for the mechanism to be feasible
are applied.
For interchangability, the lift arm, hydraulic cylinders, bucket and the front frame
dimensions are freezed and only tilting link and remaining links are to be
optimized. Only 8 design variables( x,y coordinates of 4 points)
Firstly, two goals A,B are optimized individually and then multi objective
optimization is done. The optimization function is normalized.The weighted sum
of goal A, B are considered.
Goal A: Parallel lifting of bucket. Goal B: Digging force( maximize the transmission
ratio.
The digging force is optimized(maximized)
Cylinder stroke is input, atleast for lifting cylinder. Nothing is given about design
of bucket cylinder stroke
defining parameters in software is easy way out instead of setting up kinematic and dynamic models analytically.
When optimization goals are contradictory, appropriate weightages should be given to them in the multi-objective function.
Optimization of backhoe loader mechanisms
Parallel lift mechanism in Backhoe loader
All the required variables in geometry of linkage are defined.
Relations are created for obtaining required angles and lenghts in
position analysis.
Genetic Algorithm
Digging depth < value; Dump height > value. The range for each
parameter is calculated, min and max values are calculated based
on the closure values of sub kinematic chains.
IF needed, relations should be defined for finding out intermediate
angles in 4 bar mechanisms and angles wrt cog of links
The bucket breakout force, arm breakout force, lift capacity, angle
of bucket at lowest rack-back position and angle of bucket at
highest rack-back position are design variables. Weighted sum of
these is to be maximized.
Paper Title Optimization of backhoe loader mechanisms
Mechanism Parallel lift mechanism in Backhoe loader
Position, kinematic
and dynamic analysis
All the required variables in geometry of linkage are defined.
Relations are created for obtaining required angles and lenghts in
position analysis.
Optimization method Genetic Algorithm
Optimization
constriants
Digging depth < value; Dump height > value. The range for each
parameter is calculated, min and max values are calculated based
on the closure values of sub kinematic chains.
Design variables
Optimization goals
IF needed, relations should be defined for finding out intermediate
angles in 4 bar mechanisms and angles wrt cog of links
The bucket breakout force, arm breakout force, lift capacity, angle
of bucket at lowest rack-back position and angle of bucket at
Remarks/Further
questions to be
addressed