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Coupled linkage system optimization for minimum power consumption

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Abstract

This paper presents the dynamic analysis and kinematic parameter optimization of a coupled linkage system for the purpose of employing the system in construction industry. So far, the kinematic optimization of wheel loaders was approached heuristically rather than utilizing elaborate theoretical examinations due to the complexity of coupled linkage structures. The results of the theoretical analysis and kinematic parameter optimization are presented in this paper. A wheel loader with Z-bar linkage was analyzed. For a given end-effector path, the linkage system was optimized to carry out effective motion while exhibiting minimum power consumption during operation. A modified principle of reduced system was applied in order to execute the dynamics analysis of the coupled linkage system. As a result, an optimal Z-bar linkage structure and a distribution of power consumption within the given conditions were obtained.

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea

    Kihan Shin, Hyunpyo Shin & Jongwon Kim

  2. Korea Institute of Machinery & Materials, Daejeon, Korea

    Sungcheul Lee

  3. Doosan Technology Center, Doosan Infracore, Gyeonggi-do, Korea

    Youngsun Yoo

Authors
  1. Kihan Shin
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  2. Sungcheul Lee
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  3. Hyunpyo Shin
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  4. Youngsun Yoo
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  5. Jongwon Kim
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Corresponding author

Correspondence to Hyunpyo Shin.

Additional information

Recommended by Associate Editor Jeong Sam Han

Kihan Shin received B.S. and M.S. degrees in School of Mechanical and Aerospace Engineering from Seoul National University, Seoul, Korea, in 2009, and 2011, respectively. Currently he is a senior associate at Samsung Construction and Trading. He researches automation robot for construction site and supports construction field related to rigging plan now.

Sungcheul Lee received B.S., M.S., and Ph.D degrees in School of Mechanical and Aerospace Engineering from Seoul National University, Seoul, Korea, in 2001, 2003, and 2008, respectively. Currently he is a senior researcher at Korea Institute of Machinery & Materials. His research interests include mechanism design, dynamics and design of experiment and their application to machining center and parallel mechanism.

Hyunpyo Shin received his B.S. degree in School of Biosystem Engineering, M.S., and Ph.D degrees in School of Mechanical and Aerospace Engineering from Seoul National University, Seoul, Korea, in 2002, 2004, 2009, respectively. Currently he is a senior researcher at Samsung Electro-Mechanics. His current research interests include design of redundantly actuated parallel mechanisms and medical robots.

Youngsun Yoo received his B.S. degree in Aerospace Engineering from Korea Aerospace University in 2002. Then, he received his M.S. degree in Automotive Engineering from Kookmin University, Korea, in 2006. He had worked in GM Korea as Vehicle Dynamic Engineer until 2010. Now he works in Doosan Infracore Co., Ltd as Dynamic Simulation Engineer of Construction Equipment.

Jongwon Kim received his B.S. degree in School of Mechanical Engineering from Seoul National University, Seoul, Korea, in 1978, his M.S. degree in mechanical and aerospace engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1980, and his Ph.D degree in mechanical engineering from the University of Wisconsin, Madison, in 1987. He was with Daewoo Heavy Industry and Machinery, Korea, from 1980 to 1984. From 1987 to 1989, he was Director of Central Research and Development Division at Daewoo Heavy Industry and Machinery. From 1989 to 1993, he was a Researcher at the Automation and Systems Research Institute, Seoul National University. He is currently a Professor in the School of Mechanical and Aerospace Engineering, Seoul National University. His current research interests include parallel mechanism, Taguchi methodology, and field robots.

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Shin, K., Lee, S., Shin, H. et al. Coupled linkage system optimization for minimum power consumption. J Mech Sci Technol 26, 1099–1106 (2012). https://doi.org/10.1007/s12206-011-1215-0

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  • DOI: https://doi.org/10.1007/s12206-011-1215-0

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