Section 8.|
Step-by-Step: Flexible Gripper
Section 8.1 Step-by-Step: Flexible Gripper 283,
h,
\
8.1-1 About the Flexible Gripper
In Section 7.1, we introduced a flexible gripper [1], created
a line model for it, and performed a static structural
simulation to assess the GA (geometric advantage, defined
as the ratio of horizontal output displacement to input
displacement) of the design. For that particular design, the
GA value is 1.04 (7.1-16). In this section, we want to
improve the GA value by adjusting the shape of the flexible
gripper.
The shape of the gripper consists of ewo spline
curves defined by 7 key points [2]. Positions of the PI. P4,
P5,and P7 are fixed (cannot be changed) due to constraints
imposed by some functional requirements. The positions
of the P2, P3,and P6 are free to be changed.
‘The idea is to fix the X-coordinates of these three
points and adjusting their Y-coordinates to achieve a better
GA value, The allowable adjustment range on both sides of
the Y-coordinates is 10 mm for P2.20 mm for P3,and 5 mm
for P6, Besides the GA value. we also have to watch out
the maximum stress, which should not exceed 15 MPa for
a reliability consideration.
‘We will use , a native application of
the Workbench, to complete the task.
The unit system used in this exercise is mm-s-N (to
set up the unit system, see Section 3.3-5).
Keep the Number of Design Variables Minimum
(\ ,
[1] The %
gripper.
[2 The shape is P4(~35.160)
defined by 7 key
points >
____/
P3(-69,120)
P5(-~-34,100)
or)
2(-90,40) ‘
a.
+
“The design parameters that can be changed to improve a design are called design variables (in this case, X-coordinates
of P2, P3, and P6). The overall computing time of an optimization project will increase dramatically az the number of
design variables increases. Therefore it is important co consider
rniaimum number of design variables
In this case, we could have chosen both X-caordinates and Y-coordinates of P2, P3,P6 as design variables, That
would increase the number of design variables from 3 to 6, without earning any benefits at all, since the X-coordinate
and the ¥-coordinate of a point are not independent co each other, 284 Chapter 8 Optimization
8.1-2 Resume the Project "Gripper"
Rene a ahem mont 7 Unda ome lis
etter ees EE
or
8 Fateh ane nataore
[1] Launch Bae
sai Gains
, 1 trowenaten
open the eo , ere tensinnantsy |
"Gripper." [| enw i
Fes rosso || :8= a mimeat come
Section 7.1, ftemmvewenters |] 6 care “4 coeeees
Ja rn e fl eee : + copes ora es
|@scosmef [3] Pulldown
[Greene] select . %
| Scream eam } ( 12] Select either
< < or
tonne, mm, 5, N> unit
system
Hoe Manage
Sopeeace
Regensl snd engine ope:
Grophas reaton
[8] Turning on this
[aoc | has the sme effect
lemmas as che property cet |
ewan | pw TE |
J exceptivisa |
ermanent sein
pe B)
f [A] Select
|
You can define as mary parameters as you want in a CAD system, such as DesignModeler, or Pro/Engineer. However,
only those parameters with names of prefix or suffix specified in the are exposed
(sible) co applications of the Workbench. The default prefix or suffix is "DS" (case insensitive, DS stands for Design
Space, an obsolete name for the Workbench). For example, by default. following parameter names are exposed to the
Workbench: DS_radius. ds_radius, Radius_DS, Radius_ds. where the underscore can be dropped
{In our case, we leave a blank for the , That means any parameters defined in a
CAD system are exposed to applications of the Workbench. Note that the changes of settings in the are
ent: they are effective even for other project. So, remember to change back if needed.
perma Section 8.1 Step-by-Step: Flexible Gripper 285,
8.1-3 Define Parameters in DesignModeler
Start up by double-clicking in the system. Highlight in
the tree outline and switch to mode.
[5] Type “Y2"
ce as the
oMae deg aewe seis See eRm@al paramerer
ic teas ine Gaete BD aad + oe
Some sa *
2
vertical dimension of P2 (40
mm). Note that your
| dimension name may not be
the same here (here,V7).
(
| [A] Click the box before the
i [6] Click
—= Le
| (71A"D" ismarked on | ‘\\
| the box to indicate that
itisa"driving | \
parameter" ks valve |
controled bythe
program now and
cannot be changed by [
you unless you remove
” by clicking it
agin
Repeat steps [4-6] for the vertical dimensions of P3 and Pé [8,9]
Remember that your dimension names may not be the same as they CES
Details of Stet
appear here (here, they areVB and V9 respectively)
Shah Sethi
‘Shati Vistitty ‘Show Snteh
Shove Contsinn’ io
7 | Dimensions: 12
3 e {11] Double. | u Oven
i click to open @ rm
2 Engneering Dats 4, J . | iB rn
ean Ae) | a Bs
a 35 wn
4G Hour _ |
tae (a) Chick the ee pe
sw, , ( ick the) | oa a
e Pro, ~, | box before the | ve ae
Sf [10] A bus is} | vertical dimension | van 10 own
7° added to the project schematic. | | "Srp3 (120mm). | vi Svan
| |
2 i] Fxposed parameters can be
accessed from this "bus.” We
| will explore ic later after we
define more parameters in|
\
‘Onm
1m
em
[9] Click the box before the vertical
dimension of P6 (60 mm) and give the
name "Y6." Close . 286 Chapter 8 Optimization
8.1-4 Define Parameters in
[7] Hightignt , and in the Details
Fume | (OMe || ONE ae hogan
eae ete Controlled> for . This will save some ‘. |
i cise | | "
[i serene
Tessin
1 2m (KW
Yemen [] Highlight
“Ssetcsemeaal.
& fsnesan
te |
it An
1 seen wma
oe
She Sea | Ree | ee
{ oars ' sia
: | Ge ee
i | sSse i
aoe
| [2] Click the box before [6] Click the
|
!
the , A "P” r bax before the
| is marked on the box to { [4] Click the box } tamu
| indicate that ieis a | [before the |
Cr {stinrume.
8.1-5 Explore the Parameter Sets
r
| to |
| reset a “standard”
workspace.
— ( pytieae
|: several window
[1] Doubleick |} panes nthe
| SParameter Sec>, | | workspace. Each
| can be turned on!
a off from this menu.
, ° Section 8.1, Step-by-Step: Flexible Gripper 287
[4] The lises
all parameters and
charts (if any).
( (ry The lists
series of “design poines.”
The only design pore now |
ie che currant design
CURRY
[oe son Te teas te
me oe. sare sae
ifr iTt
freemen catenn?
Bl ownnecrs?
[9] Click
