Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components

The design of a manipulator arm, which is built from a construction kit, is presented in this article. The procedure is based on the results of the discrete optimization of a truss structure and its application to a simple component system (assuming a predefined shape and material of components). A...

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Autores principales:	Jaroslav Rojíček, Zbyněk Paška, Martin Fusek, Zdenko Bobovsky, Alžbeta Sapietová, Vladimír Mostýn, Dagmar Ličová
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	manipulator construction kit design components truss structure genetic algorithm finite element method Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/5b538fc75fa64a35a8849f6dead24cf4
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spelling	oai:doaj.org-article:5b538fc75fa64a35a8849f6dead24cf42021-11-11T15:15:07ZOptimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components10.3390/app1121101932076-3417https://doaj.org/article/5b538fc75fa64a35a8849f6dead24cf42021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/10193https://doaj.org/toc/2076-3417The design of a manipulator arm, which is built from a construction kit, is presented in this article. The procedure is based on the results of the discrete optimization of a truss structure and its application to a simple component system (assuming a predefined shape and material of components). A genetic algorithm is used to optimize the truss structure, and the results of the solution are verified on a simple task used in literature (the code was written in the Python language). The construction kit was inspired by Merkur<sup>®</sup>, and the article proposes several components with different shapes and materials. The construction kit and the optimization of the truss structure were used to design the manipulator arm. The truss topology has been predefined with respect to the construction set. The finite element method (software ANSYS<sup>®</sup>) was used to analyze the components (shell elements) and truss structures (linear analysis, buckling analysis, etc.). To validate the presented approach, the arm designed by topological optimization was used. The comparison shows that the use of components may be an alternative to topology optimization and additive manufacturing. The next step will be the modification of the presented method in order to minimize the differences between the simplified task used for optimization (truss structure-rod element) and the simulation composed of components (components assembly-shell element).Jaroslav RojíčekZbyněk PaškaMartin FusekZdenko BobovskyAlžbeta SapietováVladimír MostýnDagmar LičováMDPI AGarticlemanipulatorconstruction kitdesign componentstruss structuregenetic algorithmfinite element methodTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10193, p 10193 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	manipulator construction kit design components truss structure genetic algorithm finite element method Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	manipulator construction kit design components truss structure genetic algorithm finite element method Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Jaroslav Rojíček Zbyněk Paška Martin Fusek Zdenko Bobovsky Alžbeta Sapietová Vladimír Mostýn Dagmar Ličová Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components
description	The design of a manipulator arm, which is built from a construction kit, is presented in this article. The procedure is based on the results of the discrete optimization of a truss structure and its application to a simple component system (assuming a predefined shape and material of components). A genetic algorithm is used to optimize the truss structure, and the results of the solution are verified on a simple task used in literature (the code was written in the Python language). The construction kit was inspired by Merkur<sup>®</sup>, and the article proposes several components with different shapes and materials. The construction kit and the optimization of the truss structure were used to design the manipulator arm. The truss topology has been predefined with respect to the construction set. The finite element method (software ANSYS<sup>®</sup>) was used to analyze the components (shell elements) and truss structures (linear analysis, buckling analysis, etc.). To validate the presented approach, the arm designed by topological optimization was used. The comparison shows that the use of components may be an alternative to topology optimization and additive manufacturing. The next step will be the modification of the presented method in order to minimize the differences between the simplified task used for optimization (truss structure-rod element) and the simulation composed of components (components assembly-shell element).
format	article
author	Jaroslav Rojíček Zbyněk Paška Martin Fusek Zdenko Bobovsky Alžbeta Sapietová Vladimír Mostýn Dagmar Ličová
author_facet	Jaroslav Rojíček Zbyněk Paška Martin Fusek Zdenko Bobovsky Alžbeta Sapietová Vladimír Mostýn Dagmar Ličová
author_sort	Jaroslav Rojíček
title	Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components
title_short	Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components
title_full	Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components
title_fullStr	Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components
title_full_unstemmed	Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components
title_sort	optimization of a truss structure used to design of the manipulator arm from a set of components
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/5b538fc75fa64a35a8849f6dead24cf4
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_version_	1718436086078767104

Optimization of a Truss Structure Used to Design of the Manipulator Arm from a Set of Components

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