Optimal synthesis of a planar mechanism using Matlab: Example of slider crank in a rowing motion

Med Amine LARIBI; Med Amine LARIBI

doi:10.3934/steme.2023001

STEM Education

2023, Volume 3, Issue 1: 1-14. doi: 10.3934/steme.2023001

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Optimal synthesis of a planar mechanism using Matlab: Example of slider crank in a rowing motion

Med Amine LARIBI ^,

Department of GMSC, Pprime Institute CNRS, ISAE-ENSMA, University of Poitiers, UPR 3346, France; med.amine.laribi@univ-poitiers.fr

Academic Editor: Mingfeng Wang

Received: 09 December 2022 Revised: 26 February 2023 Accepted: 07 March 2023 Published: 10 March 2023

This paper illustrates the conducted effort to introduce the methodology of optimal synthesis of mechanisms through an engineering problem under Matlab. This project is part of a first course on poly-articulated mechanisms and robotics at the graduate level. The course combines both the theoretical and implementation under Matlab aspects to achieve its goals. The example of the rowing machine is considered to introduce the crank-slider mechanism and the kinematic analysis using complex numbers. The mechanism is associated with a spring to ensure the device simulating the resistance in the rowing bench simulator. The optimal synthesis problem is formulated for the desired effort to perform and solved using the Sequential Quadratic Programming method. All developments are implemented under Matlab.
- optimal synthesis,
- slider-crank,
- kinematic analysis,
- Matlab
Citation: Med Amine LARIBI. Optimal synthesis of a planar mechanism using Matlab: Example of slider crank in a rowing motion[J]. STEM Education, 2023, 3(1): 1-14. doi: 10.3934/steme.2023001

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Abstract

This paper illustrates the conducted effort to introduce the methodology of optimal synthesis of mechanisms through an engineering problem under Matlab. This project is part of a first course on poly-articulated mechanisms and robotics at the graduate level. The course combines both the theoretical and implementation under Matlab aspects to achieve its goals. The example of the rowing machine is considered to introduce the crank-slider mechanism and the kinematic analysis using complex numbers. The mechanism is associated with a spring to ensure the device simulating the resistance in the rowing bench simulator. The optimal synthesis problem is formulated for the desired effort to perform and solved using the Sequential Quadratic Programming method. All developments are implemented under Matlab.

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Author's biography Dr. Med Amine LARIBI is an Associate Professor in the Fundamental and Applied Sciences Faculty of the University of Poitiers (UP), where he teaches robotics and mechanic. He has a Mechanical Engineer Degree (specialization on Mechanical Design) from École Nationale d'Ingénieurs de Monsatir (E.N.I.M.) in 2001. M.S. in Mechanical Design, 2002. He received his Ph.D. in Mechanics from University of Poitiers in 2005 and National Habilitation in Mechanics from University of Poitiers in 2018. He servers as Associate Editor in several reputed internationals journals including ASME Journal of Medical Devices, Robotic Intelligence and Automation (Emerald Publishing), Mechanical Sciences (Copernicus Publications), MDPI Robotics and MDPI Machines. He is a member of international scientific committee of RAAD, MESROB and ROMANSY. His research interests, at the Department of G.M.S.C. of PPRIME Institute, include aspects on robots design, mechanism synthesis, cable driven robots, parallel robots, haptic interfaces, collaborative robots with more than 53 published peer reviewed journal papers, 9 edited books, 10 edited journal special issue, 6 PhD students. He is leading several national and international research projects in the fields of medical robotics and biomimetics

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