U.S.-Korea Cooperative Research on Optimal Design and Control of Multibody Systems: A Parallel Manipulator Case Study

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9727424 Bobrow This award provides funds to permit Dr. James E. Bobrow, Department of Mechanical and Aerospace Engineering, University of California - Irvine to pursue with Dr. Frank C. Park, Department of Mechanical Design and Production Engineering, Seoul National University, Korea, for 36 months, a program of cooperative research on optimal design and control of multibody systems, a parallel manipulator case study., Using techniques from modern differential geometry, compact, closed-form equations for the dynamics of such systems have been developed in prior research by the collaborators. The goal of the present research is to integrate various mathematical methods, developed previously, into a single unified design methodology for multibody design and control. These previously developed equations have led to the development of gradient-based numerical optimization algorithms for optimal design and motion planning applications. The collaborators expect to validate their proposed approach with a case study, by applying the methodology to the design, construction, and control of a pneumatically actuated parallel manipulator for use as a vehicle simulator. The practical goal of this project is a low-cost vehicle simulator whose performance is optimized using efficient and robust design optimization algorithms. This project is relevant to the objectives of the U.S.-Korea Cooperative Science Program which seeks to increase the level of cooperation between U.S. and Korean scientists and engineers through the exchange of scientific information, ideas, skills, and techniques and through collaboration on problems of mutual benefit. Korean participation is supported by the Korea Science and Engineering Foundation (KOSEF). ***