engleski

Multi-objective optimization of Chebyshev Lambda mechanism

Walking mechanisms are a solution for cases in which wheels are not applicable, such as uneven or stepped surfaces and surfaces with obstacles. Further, it is possible to tailor mechanism foot paths to expected working conditions through optimization. Thus, in this paper, the mechanism optimization process was proposed ; the numerical Simulink calculations were used to determine objective function values, which were then input to NSGA-II for optimization. In each following generation, NSGA-II provided a new set of units for evaluation. Four objective functions – stride length, stride height variation, maximum foot acceleration, and foot speed fluctuation, were used to carry out a multi-objective optimization. To better illustrate it, the procedure was applied to the Chebyshev Lambda mechanism, enabling a comprehensive analysis of candidate mechanisms. The calculation time was approx. 2 s/unit.

Chebyshev Lambda mechanism ; Optimization ; Synthesis ; Walking mechanism

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