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

9727424 Bobrow该奖项提供资金，允许加州大学欧文分校机械和航空航天工程系James E.Bobrow博士与韩国首尔国立大学机械设计和生产工程系Frank C.Park博士合作36个月，开展多体系统优化设计和控制的合作研究计划，这是一个并行机械手案例研究。合作者在先前的研究中利用现代微分几何技术，开发了用于此类系统动力学的紧凑、封闭形式的方程。本研究的目标是将以前开发的各种数学方法集成到一个单一的统一设计方法中，用于多体设计和控制。这些以前开发的方程导致了基于梯度的数值优化算法的发展，用于优化设计和运动规划应用。合作者希望通过一个案例研究来验证他们提出的方法，通过将该方法应用于用作车辆模拟器的气动驱动并联机械手的设计、构造和控制。本项目的实际目标是设计一个低成本的车辆模拟器，其性能使用高效和健壮的设计优化算法进行优化。该项目与美韩合作科学计划的目标相关，该计划旨在通过交流科学信息、想法、技能和技术以及通过在互利问题上的合作来提高美国和韩国科学家和工程师之间的合作水平。韩国的参与得到了韩国科学与工程基金会(KOSEF)的支持。***

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). ***