Concurrent Optimization Design for Mechanisms CODeMe
Concurrent Optimization Design for Mechanisms (CODeMe) is an open source software, that allows the user to select from a range of optimization problems, kinematic and dynamic models and optimization methods. It also allows the user to code their own mechanical model and objective functions.
CODeMe
This software follows the proposed general methodology for optimization of a kinematically complex mechanism. This methodology can be used for static, kinematic or dynamic optimization problems, in the last two cases, we consider a concurrent optimization problem: the optimization of geometry and control parameters simultaneously subject to a certain task.
Figure shows a graphical representation of the methodology, which summarizes the
process in three main steps:
- Firstly, the mechanism to be optimized must be selected together with a set of design parameters, e.g., masses, fixed lengths, inertial moments, desired workspace size and shape, etc., as well as a kinematic or dynamic model.
- Secondly, the objective function must be selected consequently, a control method, trajectory or workspace must be selected in agreement with the optimization model.
- Lastly, an optimization algorithm must be selected, from the three options , and the parameters of such algorithm must be inputted.