Study Of Collaborative Optimization Method Based On Four-bar Mechanism

With higher demands of modern society and industry application, mechanical products tend to be more and more mechatronic, thus higher motion accuracy, control stability and better structure design are needed. On the one hand, due to the fact that mechatronic product is a strong coupling integration system, system’s overall performance is directly affected by whether mechanical system and control system are matched effectively. On the other hand, system’s performance will also be affected by the change of dynamic and control parameters, and the affection can not be ignored when it comes to the time load history and further optimization of a certain key part of the system.The coupling between mechanical system and control system can not be fully considered by traditional method of design, especially the interaction among dynamic model, controller parameters and structure topology of part, it is hard to meet the practical design requirements. Thus, it is necessary and meaningful to take three factors into full consideration during the design of mechatronic products. Regarding the issue above, a collaborative optimization is presented based on co-simulation using a controlled four-bar mechanism as an example, which integrates the optimization of dynamic model, controller parameters and structure topology of part into one optimization loop.Firstly, rigid-flexible hybrid dynamic model of four-bar mechanism is built within ADAMS, and the influence of the change of dynamic parameters to system is analyzed, then the optimization of dynamic parameters is conducted based on it.Secondly, corresponding control system is built within MATLAB/Simulink, and its controller parameters are optimized based on its response to step signal. Then, a new control system model matched with its mechanical system is obtained. Thirdly, Four different situations are combined through whether dynamic model and controller parameters are optimized or not, then co-simulations are conducted respectively using ADAMS and MATLAB/Simulink, and strain energy and time-load history of flexible link arm are obtained accordingly. Topology optimization of flexible link arm is conducted based on boundary condition of time load history using OPTISTRUCT.Collaborative optimization method is verified by comparing system’s dynamic performance, step response curves of control system, topology optimization resultsand strain energy curves of flexible link arm. Through the study of controlled four-bar mechanism, the collaborative optimization of dynamic parameters, controller parameters and structure topology of part is realized, making it a feasible reference for the optimization design of mechatronic products and key parts within the system.