Multi-Objective Optimization of the Chebyshev Lambda Mechanism

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Izvoz citacije: ABNT
MILER, Daniel ;BIRT, Dominik ;HOIĆ, Matija .
Multi-Objective Optimization of the Chebyshev Lambda Mechanism. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 68, n.12, p. 725-734, october 2022. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/multi-objective-optimization-of-chebyshev-lambda-mechanism/>. Date accessed: 24 apr. 2024. 
doi:http://dx.doi.org/10.5545/sv-jme.2022.349.
Miler, D., Birt, D., & Hoić, M.
(2022).
Multi-Objective Optimization of the Chebyshev Lambda Mechanism.
Strojniški vestnik - Journal of Mechanical Engineering, 68(12), 725-734.
doi:http://dx.doi.org/10.5545/sv-jme.2022.349
@article{sv-jmesv-jme.2022.349,
	author = {Daniel  Miler and Dominik  Birt and Matija  Hoić},
	title = {Multi-Objective Optimization of the Chebyshev Lambda Mechanism},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {12},
	year = {2022},
	keywords = {Chebyshev Lambda mechanism; Optimization; Synthesis; Walking mechanism; },
	abstract = {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.},
	issn = {0039-2480},	pages = {725-734},	doi = {10.5545/sv-jme.2022.349},
	url = {https://www.sv-jme.eu/sl/article/multi-objective-optimization-of-chebyshev-lambda-mechanism/}
}
Miler, D.,Birt, D.,Hoić, M.
2022 October 68. Multi-Objective Optimization of the Chebyshev Lambda Mechanism. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 68:12
%A Miler, Daniel 
%A Birt, Dominik 
%A Hoić, Matija 
%D 2022
%T Multi-Objective Optimization of the Chebyshev Lambda Mechanism
%B 2022
%9 Chebyshev Lambda mechanism; Optimization; Synthesis; Walking mechanism; 
%! Multi-Objective Optimization of the Chebyshev Lambda Mechanism
%K Chebyshev Lambda mechanism; Optimization; Synthesis; Walking mechanism; 
%X 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.
%U https://www.sv-jme.eu/sl/article/multi-objective-optimization-of-chebyshev-lambda-mechanism/
%0 Journal Article
%R 10.5545/sv-jme.2022.349
%& 725
%P 10
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 68
%N 12
%@ 0039-2480
%8 2022-10-26
%7 2022-10-26
Miler, Daniel, Dominik  Birt, & Matija  Hoić.
"Multi-Objective Optimization of the Chebyshev Lambda Mechanism." Strojniški vestnik - Journal of Mechanical Engineering [Online], 68.12 (2022): 725-734. Web.  24 Apr. 2024
TY  - JOUR
AU  - Miler, Daniel 
AU  - Birt, Dominik 
AU  - Hoić, Matija 
PY  - 2022
TI  - Multi-Objective Optimization of the Chebyshev Lambda Mechanism
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.349
KW  - Chebyshev Lambda mechanism; Optimization; Synthesis; Walking mechanism; 
N2  - 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.
UR  - https://www.sv-jme.eu/sl/article/multi-objective-optimization-of-chebyshev-lambda-mechanism/
@article{{sv-jme}{sv-jme.2022.349},
	author = {Miler, D., Birt, D., Hoić, M.},
	title = {Multi-Objective Optimization of the Chebyshev Lambda Mechanism},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {12},
	year = {2022},
	doi = {10.5545/sv-jme.2022.349},
	url = {https://www.sv-jme.eu/sl/article/multi-objective-optimization-of-chebyshev-lambda-mechanism/}
}
TY  - JOUR
AU  - Miler, Daniel 
AU  - Birt, Dominik 
AU  - Hoić, Matija 
PY  - 2022/10/26
TI  - Multi-Objective Optimization of the Chebyshev Lambda Mechanism
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 68, No 12 (2022): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.349
KW  - Chebyshev Lambda mechanism, Optimization, Synthesis, Walking mechanism, 
N2  - 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.
UR  - https://www.sv-jme.eu/sl/article/multi-objective-optimization-of-chebyshev-lambda-mechanism/
Miler, Daniel, Birt, Dominik, AND Hoić, Matija.
"Multi-Objective Optimization of the Chebyshev Lambda Mechanism" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 68 Number 12 (26 October 2022)

Avtorji

Inštitucije

  • University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Croatia 1

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 68(2022)12, 725-734
© The Authors 2022. CC BY-NC 4.0 Int.

https://doi.org/10.5545/sv-jme.2022.349

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.

Chebyshev Lambda mechanism; Optimization; Synthesis; Walking mechanism;