Kinematic optimal design of a double-knuckle mechanism for servo punch press based on performance atlases

The kinematic optimal design of double-knuckle mechanism with redundant actuation for servo punch press is studied based on performance atlases. The performance indices, including LTI, GTI and GTW, are defined according to screw theory. To get all feasible solutions in dimensional synthesis, the non-dimensional normalization method is used, the performance atlases are depicted, and the optimum region is identified. Then, a possible design solution is selected. The feasible solution of the mechanism with good motion/force transmission performance is obtained through inverse normalization. Moreover, the solution can be flexibly adjusted by designer according to practical design requirements. The presented design method provides a feasible solution to the optimal design of double-knuckle servo punch press.