Design Optimization (ME41613)

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Engineering Design Optimization (ME60079)

GOUTAM CHAKRABORTY
DEPARTMENT OF MECHANICAL ENGINEERING
INDIAN INSTITUTE OF TECHNOLOGY KHARAGPUR
 Lecture 6

Introduction to Design Optimization

Objectives:

After listening to this lecture you should be able to

• Classify different types of constraints

• Express the constraints in mathematical form
 Design Constraints

Design constraints are the restrictions with which

a designer has to comply during the process of
design

Design constraints should be expressed in

mathematical forms
 Types of Constraints

• Parametric constraints
Constraints in the form 𝒙𝒙min ≤ 𝒙𝒙 ≤ 𝒙𝒙 max
𝒊𝒊 𝒊𝒊 𝒊𝒊

Causes:

• natural (e.g., length can not be negative)

• space restriction
 A

D P

d A
Section A-A

Constraint: 𝟎𝟎 ≤ 𝒅𝒅 ≤ 𝑫𝑫
 Photo courtesy: PUMA 560 Google

Constraints: Joint rotation angles have ranges

 Types of Constraints

• Parametric constraints
Constraints in the form 𝒙𝒙min ≤ 𝒙𝒙 ≤ 𝒙𝒙 max
𝒊𝒊 𝒊𝒊 𝒊𝒊

Causes:

• natural (e.g., length can not be negative)

• space restriction
• availability (either not available or difficult to manufacture)
 Types of Constraints

• Parametric constraints

• Geometric constraints

Form: 𝒈𝒈 𝒙𝒙𝟏𝟏 , 𝒙𝒙𝟐𝟐 , ⋯ , 𝒙𝒙𝒏𝒏 ≤ 𝟎𝟎

Causes:

• Geometric compatibility
 Constraint: D > d

Usually: 2d < 0.3D

D
 Types of Constraints

• Parametric constraints

• Geometric constraints

Form: 𝒈𝒈 𝒙𝒙𝟏𝟏 , 𝒙𝒙𝟐𝟐 , ⋯ , 𝒙𝒙𝒏𝒏 ≤ 𝟎𝟎

Causes:

• Geometric compatibility
• Mobility requirement
 𝝋𝝋desired
b
𝝋𝝋
c
a
𝜽𝜽 L 𝝋𝝋

𝟎𝟎𝒐𝒐 𝜽𝜽 𝟑𝟑𝟑𝟑𝟑𝟑𝒐𝒐
𝝋𝝋actual

Constraint: Grasoff double crank mechanism

1. r+s<p+q
2. L is smallest link
 Types of Constraints

• Parametric constraints

• Geometric constraints

• Kinetic constraints

Form: 𝒈𝒈 ≤ 𝟎𝟎
 Photo courtesy: Springer Link

Constraints: Motor torques at the joints may not exceed limiting values
𝑷𝑷 < 𝑷𝑷𝒄𝒄𝒄𝒄 𝑷𝑷 > 𝑷𝑷𝒄𝒄𝒄𝒄

𝑷𝑷𝒄𝒄𝒄𝒄 = 𝒉𝒉(𝒙𝒙𝟏𝟏 , 𝒙𝒙𝟐𝟐 , ⋯ )

 Types of Constraints
• Parametric constraints

• Geometric constraints

• Kinetic constraints

• Material constraint Form: 𝒈𝒈 ≤ 𝟎𝟎

Causes:

• Safety against material failure

 Failure Theories
(Recapitulation)

Static loading Dynamic loading

Failure due to static loading
Failure due to variable loading
Failure due to variable loading

Photo courtesy: Google

Thank You