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Abstract

This study aims to optimize the 2-cylinder in-line reciprocating compressor crankshaft. As the crankshaft is considered the "bulkiest" component of the reciprocating compressor, its weight reduction is the focus of current research for improved performance and lower cost. Therefore, achieving a lightweight crankshaft without compromising the mechanical properties is the core objective of this study. Computational analysis for the crankshaft design optimization was performed in the following steps: kinematic analysis, static analysis, fatigue analysis, topology analysis, and dynamic modal analysis. Material retention by employing topology optimization resulted in a significant amount of weight reduction. A weight reduction of approximately 13% of the original crankshaft was achieved. At the same time, design optimization results demonstrate improvement in the mechanical properties due to better stress concentration and distribution on the crankshaft. In addition, material retention would also contribute to the material cost reduction of the crankshaft. The exact 3D model of the optimized crankshaft with complete design features is the main outcome of this research. The optimization and stress analysis methodology developed in this study can be used in broader fields such as reciprocating compressors/engines, structures, piping, and aerospace industries.
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Bibliography

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[19] A. Arshad, S. Samarasinghe, and V. Kovalcuks. A simplified design approach for high-speed wind tunnels. Part-I.I: Optimized design of settling chamber and inlet nozzle. 2020 11th International Conference on Mechanical and Aerospace Engineering (ICMAE), pages 150–154, 2020. doi: 10.1109/ICMAE50897.2020.9178865.
[20] A. Arshad, M.A.F. Ameer, and O. Kovzels. A simplified design approach for high-speed wind tunnels. Part II: Diffuser optimization and complete duct design. Journal of Mechanical Science and Technology, 35(7):2949–2960, 2021. doi: 10.1007/s12206-021-0618-9.
[21] A. Arshad, N. Andrew, and I. Blumbergs. Computational study of noise reduction in CFM56-5B using core nozzle chevrons. 2020 11th International Conference on Mechanical and Aerospace Engineering (ICMAE), pages 162-167, 2020. doi: 10.1109/ICMAE50897.2020.9178891.
[22] A. Arshad, L.B. Rodrigues, and I.M. López. Design optimization and investigation of aerodynamic characteristics of low Reynolds number airfoils. International Journal of Aeronautical and Space Sciences, 22:751–764, 2021. doi: 10.1007/s42405-021-00362-2.
[23] A. Arshad, A.J. Kallungal and A.E.E.E. Elmenshawy. Stability analysis for a concept design of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV). 2021 International Conference on Military Technologies (ICMT), pages 1–6, 2021. doi: 10.1109/ICMT52455.2021.9502764.
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Authors and Affiliations

Ali Arshad
1
ORCID: ORCID
Pengbo Cong
2
Adham Awad Elsayed Elmenshawy
1
Ilmārs Blumbergs
1
ORCID: ORCID

  1. Institute of Aeronautics, Faculty of Mechanical Engineering, Transport and Aeronautics, Riga Technical University, Latvia
  2. Institute of Mechanics and Mechanical Engineering, Faculty of Mechanical Engineering, Transport and Aeronautics, Riga Technical University, Latvia
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Abstract

The article describes motion planning of an underwater redundant manipulator with revolute joints moving in a plane under gravity and in the presence of obstacles. The proposed motion planning algorithm is based on minimization of the total energy in overcoming the hydrodynamic as well as dynamic forces acting on the manipulator while moving underwater and at the same time, avoiding both singularities and obstacle. The obstacle is considered as a point object. A recursive Lagrangian dynamics algorithm is formulated for the planar geometry to evaluate joint torques during the motion of serial link redundant manipulator fully submerged underwater. In turn the energy consumed in following a task trajectory is computed. The presence of redundancy in joint space of the manipulator facilitates selecting the optimal sequence of configurations as well as the required joint motion rates with minimum energy consumed among all possible configurations and rates. The effectiveness of the proposed motion planning algorithm is shown by applying it on a 3 degrees-of-freedom planar redundant manipulator fully submerged underwater and avoiding a point obstacle. The results establish that energy spent against overcoming loading resulted from hydrodynamic interactions majorly decides the optimal trajectory to follow in accomplishing an underwater task.
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Bibliography

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Authors and Affiliations

Virendra Kumar
1
ORCID: ORCID
Soumen Sen
1
Shibendu Shekhar Roy
2

  1. Robotics and Automation Division, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India
  2. Mechanical Engineering Department, National Institute of Technology, Durgapur, India

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