OPTIMIZATION OF MECHANISMS AND THE EFFECT OF COLLISIONS

In this paper, the optimization of transient dynamical behavior of mec hanisms is addressed. In this context, the peculiarities of systems wi th unilateral contacts and collisions are discussed. The effect of col lisions on the character of a general integral-type performance measur e is investigated. Nonfrictional collisions are described by Newton's impact law, which is extended to multiple impacts occurring simultaneo usly. In contrast to Ref. 9, the equations that are derived in this pa per are valid even if the generalized coordinates are redundant in cas e of inactive unilateral mechanical constraints. A sufficient conditio n for discontinuity of the performance measure is given. It is shown w ith a circuit breaker example that this condition holds for mechanisms with multiple contact configurations. On basis of the theoretical con siderations, as well as the performance of the circuit breaker mechani sm, optimization algorithms that are well suited to mechanisms with co llisions are recommended.