Etude et optimisation de l’effet des erreurs de fabrication sur la performance cinématique et dynamique des mécanismes plans

Abstract

In real-life mechanisms, the design parameters differ from their theoterical values. This difference is due to the manufacturing errors of link dimensions and revolute joints of mechanism. In this thesis, the effect of link dimensions manufacturing errors and joints clearance on the kinematic and dynamicperformances of a planr mechanismis studied. Furthermore, an analytical method based on the partial derivatives is used to determine the mathematical equation representing the kinematical errors of the machanism. This error depends on the manufacturing errors of link dimension and revolute joints clearance of the mechanism. The Lagrangian equation is adopted to define the mathematical expression of manufacturing error on the dynamic performance of a planar mechanism. In this work, two objectives are considered regarding the acceleration error and dynamic performance. In the optimization process, particle swarm optimization algorithm (PSO) is used to determine the optimal design parameters, to achieve better kinematic and dynamic of planar mechanism in presence of manufacturing errors. Morever, this methodology was found to be helpful to achieve the better performance for an optimal mechanism.