Title
Višekriterijumska optimalna sinteza pogonskih mehanizama manipulatora utovarivača
Creator
Pavlović, Jovan, 1987-
CONOR:
23330919
Copyright date
2021
Object Links
Select license
Autorstvo-Nekomercijalno-Bez prerade 3.0 Srbija (CC BY-NC-ND 3.0)
License description
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Language
Serbian
Cobiss-ID
Theses Type
Doktorska disertacija
description
Datum odbrane: 30.09.2021.
Other responsibilities
Academic Expertise
Prirodno-matematičke nauke
Academic Title
-
University
Univerzitet u Nišu
Faculty
Mašinski fakultet
Group
Katedra za mašinske konstrukcije, razvoj i inženjering
Alternative title
Multicriteria optimal synthesis of manipulator drive mechanisms in loaders
Publisher
[Ј. М. Павловић]
Format
[7], 185 стр.
description
Биографија аутора: стр. 185,
Библиографија: стр. 154-163.
description
Material handling equipment and logistics
Abstract (en)
The dissertation defines the general methodology of multicriteria optimal synthesis of the loader drive mechanisms with the Z kinematics manipulator. The methodolo-
gy is based on the design science and modular design procedure. The obtained resea-
rch results during the development of the methodology are related to: the analysis of parameters of mechanisms functions, generation of variant solutions of mechanisms,
definition of criteria for optimization of mechanisms and selection of the best soluti-
on of mechanisms by methods of multicriteria decision making. The analysis of fun-
ction parameters, which are set at the beginning of the synthesis of manipulator me-
chanisms, was performed by dynamic numerical simulation and experimental tests.
The results of the analysis show that the load moments of the mechanisms are the greatest during the operation of the material loading, and during the operation of tra-
nsferring the material, the moment of gravitational force of the loaded material has
the greatest influence on the mechanisms load. To generate variant solutions of me-
chanisms, an optimization area is determined, which includes: transfer parameters –
coordinates of joints and lengths of the kinematic chain members of mechanisms and transformation parameters - sizes of hydraulic cylinders. The variant solutions of mechanisms was generated by searching the optimization space, first the transfer parameters are generated - using a genetic algorithm, and then the transformation pa-
rameters of the mechanisms - by the sequential search procedure. The obtained set of generated solutions shows that for the same given function parameters it is possible
to generate variants of mechanisms with different transformation and transfer para-
meters. For the selection of mechanism solutions, from the set of possible generated variant solutions, the following optimization criteria have been developed a) kinema-
tic criterion defining the minimum change of back bucket angle when lifting from transport to unloading position, b) criterion of directed breaking force with the aim
that the directed loading force of the material has a maximum value, determined for
the entire working area of the manipulator, c) tribological criterion with the aim that minimal power losses occurred due to friction in the joints of manipulator mechani-
sms, d) time criterion with the aim that the minimum time duration of operations of
loading, transport and unloading of the manipulation task, e) mass criterion with the
aim that the members of the kinematic chain and drive mechanisms of the manipula-
tor have the minimum mass, e) dynamic criterion with the aim that the minimum di-
splacements of the support-moving mechanisms of the loader are caused by the mo-
tion of the manipulator mechanisms. For the selection of the best variant solution of drive mechanisms, methods of multicriteria decision making were used based on the
values of defined objective functions and evaluation of the importance of criteria.
Authors Key words
Pogonski mehanizmi, utovarivači točkaši, optimalna sinteza
Authors Key words
Drive mechanisms, loaders, optimal synthesis
Classification
62-182.3:621.878.4/.6]:519.6(043.3)
Subject
T 210
Type
Tekst
Abstract (en)
The dissertation defines the general methodology of multicriteria optimal synthesis of the loader drive mechanisms with the Z kinematics manipulator. The methodolo-
gy is based on the design science and modular design procedure. The obtained resea-
rch results during the development of the methodology are related to: the analysis of parameters of mechanisms functions, generation of variant solutions of mechanisms,
definition of criteria for optimization of mechanisms and selection of the best soluti-
on of mechanisms by methods of multicriteria decision making. The analysis of fun-
ction parameters, which are set at the beginning of the synthesis of manipulator me-
chanisms, was performed by dynamic numerical simulation and experimental tests.
The results of the analysis show that the load moments of the mechanisms are the greatest during the operation of the material loading, and during the operation of tra-
nsferring the material, the moment of gravitational force of the loaded material has
the greatest influence on the mechanisms load. To generate variant solutions of me-
chanisms, an optimization area is determined, which includes: transfer parameters –
coordinates of joints and lengths of the kinematic chain members of mechanisms and transformation parameters - sizes of hydraulic cylinders. The variant solutions of mechanisms was generated by searching the optimization space, first the transfer parameters are generated - using a genetic algorithm, and then the transformation pa-
rameters of the mechanisms - by the sequential search procedure. The obtained set of generated solutions shows that for the same given function parameters it is possible
to generate variants of mechanisms with different transformation and transfer para-
meters. For the selection of mechanism solutions, from the set of possible generated variant solutions, the following optimization criteria have been developed a) kinema-
tic criterion defining the minimum change of back bucket angle when lifting from transport to unloading position, b) criterion of directed breaking force with the aim
that the directed loading force of the material has a maximum value, determined for
the entire working area of the manipulator, c) tribological criterion with the aim that minimal power losses occurred due to friction in the joints of manipulator mechani-
sms, d) time criterion with the aim that the minimum time duration of operations of
loading, transport and unloading of the manipulation task, e) mass criterion with the
aim that the members of the kinematic chain and drive mechanisms of the manipula-
tor have the minimum mass, e) dynamic criterion with the aim that the minimum di-
splacements of the support-moving mechanisms of the loader are caused by the mo-
tion of the manipulator mechanisms. For the selection of the best variant solution of drive mechanisms, methods of multicriteria decision making were used based on the
values of defined objective functions and evaluation of the importance of criteria.
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