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Dynamic balancing of planar mechanisms using genetic algorithm

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Abstract

This paper presents an optimization technique to dynamically balance the planar mechanisms in which the shaking forces and shaking moments are minimized using the genetic algorithm (GA). A dynamically equivalent system of point-masses that represents each rigid link of a mechanism is developed to represent link’s inertial properties. The shaking force and shaking moment are then expressed in terms of the point-mass parameters which are taken as the design variables. These design variables are brought into the optimization scheme to reduce the shaking force and shaking moment. This formulates the objective function which optimizes the mass distribution of each link. First, the problem is formulated as a single objective optimization problem for which the genetic algorithm produces better results as compared to the conventional optimization algorithm. The same problem is then formulated as a multi-objective optimization problem and multiple optimal solutions are created as a Pareto front by using the genetic algorithm. The masses and inertias of the optimized links are computed from the optimized design variables. The effectiveness of the proposed methodology is shown by applying it to a standard problem of four-bar planar mechanism available in the literature.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Malaviya National Institute of Technology Jaipur, Jaipur, India

    Kailash Chaudhary & Himanshu Chaudhary

Authors
  1. Kailash Chaudhary
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  2. Himanshu Chaudhary
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Correspondence to Kailash Chaudhary.

Additional information

Recommended by Associate Editor Gil Ho Yoon

Kailash Chaudhary received B.E. degree from University of Rajasthan Jaipur and M.E. degree from Jai Narain Vyas University Jodhpur. He is currently a Ph.D. student in Mechanical Engineering department at Malaviya National Institute of Technology Jaipur, India.

Himanshu Chaudhary is an associate professor in Mechanical Engineering department at Malaviya National Institute of Technology Jaipur, India. His research areas are multibody dynamics, dynamic balancing and optimization of mechanisms including robotic systems.

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Chaudhary, K., Chaudhary, H. Dynamic balancing of planar mechanisms using genetic algorithm. J MECH SCI TECHNOL 28, 4213–4220 (2014). https://doi.org/10.1007/s12206-014-0934-4

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  • DOI: https://doi.org/10.1007/s12206-014-0934-4

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