Optimum Design With Intelligent Control Of ALog Manipulator

Abstract

The goal is to study the product development of the structure and control logic of a log manipulator using virtual prototype models. The design goals are to satisfy the economical and technical performance needs of the end user using fuzzy goal formulations. The manufacturing development goal is to reduce optimally the complexity or cost. Also the utility of intelligent control to maximize the efficiency of handling are considered. The following methods are used. A virtual 3D full dynamics simulation prototype of the machine and its operation space are modeled using Working Model program. The model is run through a representative work cycle as required by the end user to get simulated loads at members. Using these loads some parts are modeled with FEM to get stress strain and deflection data at critical locations. One critical machine element is optimised using the optimising algorithm with a mix of discrete and continuous variables of component geometries, materials and manufacturing and strength constraints in a fuzzy way. The result is a machine model which satisfies the manufacturability criteria of the producer and also the end user by performing all the kinematic functions within the work space.The next step is the reconstruction of a new model which has more intelligence both built into the structure and also to the controlling algorithms and then the verification of its performance and comparison with the predictions of the virtual prototype.