Optimization of mechanisms and the effect of collisions

摘要

In this paper, the optimization of transient dynamical behavior of mechanisms is addressed. In this context, the peculiarities of systems with unilateral contacts and collisions are discussed. The effect of collisions on the character of a general integral-type performance measure is investigated. Nonfrictional collisions are described by Newton's impact law, which is extended to multiple impacts occurring simultaneously. In contrast to Ref. 9, the equations that are derived in this paper are valid even if the generalized coordinates are redundant in case of inactive unilateral mechanical constraints. A sufficient condition for discontinuity of the performance measure is given. It is shown with a circuit breaker example that this condition holds for mechanisms with multiple contact configurations. On basis of the theoretical considerations, as well as the performance of the circuit breaker mechanism, optimization algorithms that are well suited to mechanisms with collisions are recommended. [References: 22]