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Printed in Great Britain. # 1997 TEMPUS Publications.
417
418 K. Liu and W. P. Boyle
relations derived from vector diagrams. Students by trial and error methods, typically demanding
need only find a sufficient number of rules to allow a high level of computational power. However,
the model to solve for the unknowns; isolation of when it is possible to specify an exact relation,
unknowns is mostly unnecessary. not necessarily in an explicit fashion, between
If no direct and explicit relation between the the design objective and the control variables,
desired motion and the design parameters can then the use of an optimization technique may
be found, the design problem can be approached mean that a high quality design can be obtained
Fig. 2. Plot of performance measure vs. length L3 for various values of length L2 .
Dimensional Optimization for the Crank-Rocker Mechanism 419
(a)
(b)
(c)
Fig. 3. TK program for position optimization. (a) Rule Sheet. (b) Procedure Function POSPE. (c) Rule Function POS for position
synthesis. (d) Variable Sheet. (e) Table Sheet.
420 K. Liu and W. P. Boyle
(d)
(e)
Fig. 3. (Continued).
(a)
(b)
Fig. 4. Comparison of the desired motion and optimal motion. (a) m 1. (b) m 1:5.
422 K. Liu and W. P. Boyle
(a)
(b)
(c)
Fig. 6. TK program for velocity optimization. (a) Rule Sheet. (b) Procedure Function VELPE. (c) Rule Function POS for velocity
synthesis. (d) Rule Function VEL.
424 K. Liu and W. P. Boyle
(d)
Fig. 6 (Continued).
The velocity rules can be found from the vector The Rule Sheet is shown in Fig. 6(a). For illus-
diagram shown in Fig. 5: trative purposes L2 is chosen for optimization, and
L3 is nominated as a list variable. A procedure
!3 L3 sin 3 2 !1 L1 sin 1 2 function named VELPE, Fig. 6(b), first calls two
!2 L2 sin 2 3 !1 L1 sin 3 1 rule functions POS and VEL, as shown in Fig. 6(c)
and (d) respectively, and then computes the per-
!2 L2 2 !1 L1 2 !3 L3 2 formance measure of equation (8). A comparison
of the desired velocity, !3d , and best velocity, !3 , is
2!1 L1 !3 L3 cos 3 1 shown in Fig. 7, with L3 8 and L2 10:8235.
Optimization produces a curve closely fitting the
9 desired one.
Fig. 7. Comparison of the desired velocity and optimal velocity for L2 10:8235 and L3 8.
Dimensional Optimization for the Crank-Rocker Mechanism 425
REFERENCES
W. Peter Boyle holds B.Sc. and Ph.D. degrees in Mechanical Engineering from The Queen's
University of Belfast, is Professor of Engineering at Saint Mary's University, Halifax, and
was previously a lecturer in the Department of Mechanical Engineering, University of Cape
Town. He is the author of a text book Introductory Fluid Mechanics, and about twenty
papers in a variety of topics in mechanical engineering. He has a current interest in the
application of emergent software packages to engineering pedagogy, particularly in the area
of mechanism analysis.
Kefu Liu holds a Bachelor's degree in Mechanical Engineering and a Master's degree in
Applied Science from The Central South University of Technology, China. He was a
lecturer at that university until commencing his doctoral work in 1988 at the Technical
University of Nova Scotia, receiving his Ph.D. in Mechanical Engineering in 1992. For the
past two years he has been an Assistant Professor at Saint Mary's University, Halifax, and
at present is an Adjunct Assistant Professor in the Department of Mechanical Engineering
at TUNS. His research interests are in the areas of vibrations, machine condition
monitoring, robotics, dynamics of large space structures, having a number of publications
in these topics.