Documentos de Académico
Documentos de Profesional
Documentos de Cultura
Stephane CARO
Institut de Recherche en Communications et Cybernetique de Nantes Nantes, France stephane.caro@irccyn.ec-nantes.fr
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Outline
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Outline
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Outline
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Outline
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Outline
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Introduction
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Introduction
Introduction
Course Objectives To show how to identify customer needs and to transform it into specications Basic knowledge in product design development Functional analysis and value analysis Interviews and focus group Introduction to Kansei engineering
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Introduction
Introduction (Contd)
Design is an engineering activity that: affects almost all areas of human life; uses the laws and insights of science; builds upon special experience; and provides the prerequisite for the physical realisation of solution ideas. (Martyrer, 1960)
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Introduction
Introduction (Contd)
Design Process
1 2 3 4
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Introduction
Introduction (Contd)
Design Process
1 2 3 4
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Introduction
Introduction (Contd)
Design Process
1 2 3 4
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Introduction
Introduction (Contd)
Design Process
1 2 3 4
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Introduction
Introduction (Contd)
Conceptual Design A distinct phase 75% of total product life-cycle cost is committed Two sub-phases of the conceptual design
Obtaining a rich solution set Selection of most suitable solutions
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Introduction
Introduction (Contd)
Cost of Making Changes During Different Phases of the Design Life Cycle
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Engineering Design
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Engineering Design
Engineering Design
References
1
French, M. J. Conceptual Design for Engineers, 3rd ed., 1999 (Springer) Pahl, G. and Beitz, W. Engineering Design: A Systematic Approach, 2nd ed. Wallace, K.M. (editor); Blessing, L., Bauert, F. and Wallace, K.M. (translators), 1996 (Springer-Verlag, London) Pahl, G. and Beitz, W. Konstruktionslehre: Grundlage erfolgreicher Produktentwicklung. Methoden und Anwendung, 2005 (Springer, Berlin-Heidelberg) Angeles, J., Design Theory and Methodology, MECH593 Lecture Notes, McGill University, Montreal, Canada
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Engineering Design
Engineering Design
References
1
French, M. J. Conceptual Design for Engineers, 3rd ed., 1999 (Springer) Pahl, G. and Beitz, W. Engineering Design: A Systematic Approach, 2nd ed. Wallace, K.M. (editor); Blessing, L., Bauert, F. and Wallace, K.M. (translators), 1996 (Springer-Verlag, London) Pahl, G. and Beitz, W. Konstruktionslehre: Grundlage erfolgreicher Produktentwicklung. Methoden und Anwendung, 2005 (Springer, Berlin-Heidelberg) Angeles, J., Design Theory and Methodology, MECH593 Lecture Notes, McGill University, Montreal, Canada
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Engineering Design
Engineering Design
References
1
French, M. J. Conceptual Design for Engineers, 3rd ed., 1999 (Springer) Pahl, G. and Beitz, W. Engineering Design: A Systematic Approach, 2nd ed. Wallace, K.M. (editor); Blessing, L., Bauert, F. and Wallace, K.M. (translators), 1996 (Springer-Verlag, London) Pahl, G. and Beitz, W. Konstruktionslehre: Grundlage erfolgreicher Produktentwicklung. Methoden und Anwendung, 2005 (Springer, Berlin-Heidelberg) Angeles, J., Design Theory and Methodology, MECH593 Lecture Notes, McGill University, Montreal, Canada
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Engineering Design
Engineering Design
References
1
French, M. J. Conceptual Design for Engineers, 3rd ed., 1999 (Springer) Pahl, G. and Beitz, W. Engineering Design: A Systematic Approach, 2nd ed. Wallace, K.M. (editor); Blessing, L., Bauert, F. and Wallace, K.M. (translators), 1996 (Springer-Verlag, London) Pahl, G. and Beitz, W. Konstruktionslehre: Grundlage erfolgreicher Produktentwicklung. Methoden und Anwendung, 2005 (Springer, Berlin-Heidelberg) Angeles, J., Design Theory and Methodology, MECH593 Lecture Notes, McGill University, Montreal, Canada
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Engineering Design
Characteristics of an Engineering Science Problem Problem statement is compact and well-posed Problem has a readily identiable closure Solution is unique and compact Problem uses specialized knowledge
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Engineering Design
Characteristics of an Engineering Science Problem Problem statement is compact and well-posed Problem has a readily identiable closure Solution is unique and compact Problem uses specialized knowledge
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Engineering Design
Characteristics of an Engineering Science Problem Problem statement is compact and well-posed Problem has a readily identiable closure Solution is unique and compact Problem uses specialized knowledge
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Engineering Design
Characteristics of an Engineering Science Problem Problem statement is compact and well-posed Problem has a readily identiable closure Solution is unique and compact Problem uses specialized knowledge
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Engineering Design
According to (Glegg, G., 1970) An engineer is a creative artist. He [sic] creates by arranging in patterns the discoveries of science. A scientist can discover a new star but he [sic] cannot make one. He [sic] would have to ask an engineer to do it for him [sic].
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Engineering Design
According to (Glegg, G., 1970) An engineer is a creative artist. He [sic] creates by arranging in patterns the discoveries of science. A scientist can discover a new star but he [sic] cannot make one. He [sic] would have to ask an engineer to do it for him [sic].
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Engineering Design
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Engineering Design
Another Typical Engineering Science Problem Statement How much current is owing through the circuit 0.1 sec after the switch is closed?
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Engineering Design
Characteristics of an Engineering Design Problem Problem statement is incomplete, ambiguous, and self-contradictory Problem does not have a readily identiable closure Solutions are neither unique nor compact Problem requires integration of knowledge from many elds
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Engineering Design
Characteristics of an Engineering Design Problem Problem statement is incomplete, ambiguous, and self-contradictory Problem does not have a readily identiable closure Solutions are neither unique nor compact Problem requires integration of knowledge from many elds
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Engineering Design
Characteristics of an Engineering Design Problem Problem statement is incomplete, ambiguous, and self-contradictory Problem does not have a readily identiable closure Solutions are neither unique nor compact Problem requires integration of knowledge from many elds
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Engineering Design
Characteristics of an Engineering Design Problem Problem statement is incomplete, ambiguous, and self-contradictory Problem does not have a readily identiable closure Solutions are neither unique nor compact Problem requires integration of knowledge from many elds
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Engineering Design
Typical Engineering Design Problem Statement Design a system for lifting and moving loads of up to 1500 Kg in a manufacturing facility . The facility has an unobstructed span of 15 m. The lifting system should be inexpensive and satisfy all relevant safety standards.
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Engineering Design
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Engineering Design
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Engineering Design
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Engineering Design
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Engineering Design
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Engineering Design
Denition of Design
Engineering design is the process of devising a system, component, or process to meet desired needs. It is a decision-making process (often iterative), in which the basic sciences and mathematics, and engineering sciences are applied to convert resources optimally to meet a stated objective. Among the fundamental elements of the design process are the establishment of objectives and criteria, synthesis, analysis, construction, testing, and evaluation.
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Engineering Design
Denition of Design
Engineering design is the process of devising a system, component, or process to meet desired needs. It is a decision-making process (often iterative), in which the basic sciences and mathematics, and engineering sciences are applied to convert resources optimally to meet a stated objective. Among the fundamental elements of the design process are the establishment of objectives and criteria, synthesis, analysis, construction, testing, and evaluation.
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Engineering Design
Denition of Design
Engineering design is the process of devising a system, component, or process to meet desired needs. It is a decision-making process (often iterative), in which the basic sciences and mathematics, and engineering sciences are applied to convert resources optimally to meet a stated objective. Among the fundamental elements of the design process are the establishment of objectives and criteria, synthesis, analysis, construction, testing, and evaluation.
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Engineering Design
Recognizing the need Dening the problem Planning the project Gathering information Conceptualizing alternative approaches Evaluating the alternatives Selecting the preferred alternative Detailed design Communicating the design Implementing the preferred design
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Engineering Design
Engineering Design
Engineering Design
Engineering Design
Engineering Design
Engineering Design
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Engineering Design
Benet Will cut the development cost and time Challenge To quantify the quality of the design alternatives in the absence of a mathematical model
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Engineering Design
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Engineering Design
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Engineering Design
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Axiomatic Design
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Axiomatic Design
References
1
Suh, N.P. The Principles of Design, 1990 (Oxford University Press, Oxford) Suh, N.P. Axiomatic Design. Advances and Applications, 2001 (Oxford University Press, Oxford)
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Axiomatic Design
References
1
Suh, N.P. The Principles of Design, 1990 (Oxford University Press, Oxford) Suh, N.P. Axiomatic Design. Advances and Applications, 2001 (Oxford University Press, Oxford)
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Axiomatic Design
References
1
Suh, N.P. The Principles of Design, 1990 (Oxford University Press, Oxford) Suh, N.P. Axiomatic Design. Advances and Applications, 2001 (Oxford University Press, Oxford)
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Axiomatic Design
Denition of design
mapping process from the functional space to the physical space to satisfy the designer-specied FRs
Axiomatic Design
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Axiomatic Design
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Axiomatic Design
Motivations of the axiomatic design establish a scientic basis for design and improve design activities by providing the designer with a theoretical foundation based on logical and rational thought processes and tools make human designers more creative reduce the random search process minimize the iterative trial-and-error process determine the best designs among those proposed endow the computer with creative power through the creation of a scientic base for the design eld
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Axiomatic Design
Motivations of the axiomatic design establish a scientic basis for design and improve design activities by providing the designer with a theoretical foundation based on logical and rational thought processes and tools make human designers more creative reduce the random search process minimize the iterative trial-and-error process determine the best designs among those proposed endow the computer with creative power through the creation of a scientic base for the design eld
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Axiomatic Design
Motivations of the axiomatic design establish a scientic basis for design and improve design activities by providing the designer with a theoretical foundation based on logical and rational thought processes and tools make human designers more creative reduce the random search process minimize the iterative trial-and-error process determine the best designs among those proposed endow the computer with creative power through the creation of a scientic base for the design eld
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Axiomatic Design
Motivations of the axiomatic design establish a scientic basis for design and improve design activities by providing the designer with a theoretical foundation based on logical and rational thought processes and tools make human designers more creative reduce the random search process minimize the iterative trial-and-error process determine the best designs among those proposed endow the computer with creative power through the creation of a scientic base for the design eld
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Axiomatic Design
Motivations of the axiomatic design establish a scientic basis for design and improve design activities by providing the designer with a theoretical foundation based on logical and rational thought processes and tools make human designers more creative reduce the random search process minimize the iterative trial-and-error process determine the best designs among those proposed endow the computer with creative power through the creation of a scientic base for the design eld
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Axiomatic Design
Motivations of the axiomatic design establish a scientic basis for design and improve design activities by providing the designer with a theoretical foundation based on logical and rational thought processes and tools make human designers more creative reduce the random search process minimize the iterative trial-and-error process determine the best designs among those proposed endow the computer with creative power through the creation of a scientic base for the design eld
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Axiomatic Design
Design Axioms
Axiom 1: The Independence Axiom. Maintain the independence of the functional requirements (FRs). Axiom 2: The Information Axiom. Minimize the information content of the design.
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Axiomatic Design
Design Axioms
Axiom 1: The Independence Axiom. Maintain the independence of the functional requirements (FRs). Axiom 2: The Information Axiom. Minimize the information content of the design.
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Axiomatic Design
Functional Requirements
Beverage Can Design
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Axiomatic Design
Corollaries
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Axiomatic Design
Corollaries (Contd)
Corollary 1: (Decoupling of Coupled Design) Decouple of separate parts or aspects of a solution if FRs are coupled or become interdependent in the designs proposed. Corollary 2: (Minimization of FRs) Minimize the number of FRs and constraints. Corollary 3: (Integration of Physical Parts) Integrate design features in a single physical part if FRs can be independently satised in the proposed solution. Corollary 4: (Use of Standardization) Use standardized or interchangeable parts if the use of these parts is consistent with the FRs and constraints.
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Axiomatic Design
Corollaries (Contd)
Corollary 1: (Decoupling of Coupled Design) Decouple of separate parts or aspects of a solution if FRs are coupled or become interdependent in the designs proposed. Corollary 2: (Minimization of FRs) Minimize the number of FRs and constraints. Corollary 3: (Integration of Physical Parts) Integrate design features in a single physical part if FRs can be independently satised in the proposed solution. Corollary 4: (Use of Standardization) Use standardized or interchangeable parts if the use of these parts is consistent with the FRs and constraints.
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Axiomatic Design
Corollaries (Contd)
Corollary 1: (Decoupling of Coupled Design) Decouple of separate parts or aspects of a solution if FRs are coupled or become interdependent in the designs proposed. Corollary 2: (Minimization of FRs) Minimize the number of FRs and constraints. Corollary 3: (Integration of Physical Parts) Integrate design features in a single physical part if FRs can be independently satised in the proposed solution. Corollary 4: (Use of Standardization) Use standardized or interchangeable parts if the use of these parts is consistent with the FRs and constraints.
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Axiomatic Design
Corollaries (Contd)
Corollary 1: (Decoupling of Coupled Design) Decouple of separate parts or aspects of a solution if FRs are coupled or become interdependent in the designs proposed. Corollary 2: (Minimization of FRs) Minimize the number of FRs and constraints. Corollary 3: (Integration of Physical Parts) Integrate design features in a single physical part if FRs can be independently satised in the proposed solution. Corollary 4: (Use of Standardization) Use standardized or interchangeable parts if the use of these parts is consistent with the FRs and constraints.
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Axiomatic Design
Corollaries (Contd)
Corollary 5: (Use of Symmetry) Use symmetrical shapes and/or arrangements if they are consistent with the FRs and constraints. Corollary 6: (Largest Tolerance) Specify the largest allowable tolerance in stating FRs. Corollary 7: (Uncoupled Design with Less Information) Seek an uncoupled design that requires less information than coupled designs in satisfying a set of FRs.
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Axiomatic Design
Corollaries (Contd)
Corollary 5: (Use of Symmetry) Use symmetrical shapes and/or arrangements if they are consistent with the FRs and constraints. Corollary 6: (Largest Tolerance) Specify the largest allowable tolerance in stating FRs. Corollary 7: (Uncoupled Design with Less Information) Seek an uncoupled design that requires less information than coupled designs in satisfying a set of FRs.
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Axiomatic Design
Corollaries (Contd)
Corollary 5: (Use of Symmetry) Use symmetrical shapes and/or arrangements if they are consistent with the FRs and constraints. Corollary 6: (Largest Tolerance) Specify the largest allowable tolerance in stating FRs. Corollary 7: (Uncoupled Design with Less Information) Seek an uncoupled design that requires less information than coupled designs in satisfying a set of FRs.
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Axiomatic Design
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Axiomatic Design
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Axiomatic Design
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Axiomatic Design
Case 1: Number of DPs < Number of FRs: Coupled Design Case 2: Number of DPs > Number of FRs: Redundant Design Case 3: Number of DPs = Number of FRs: Ideal Design
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Axiomatic Design
Case 1: Number of DPs < Number of FRs: Coupled Design Case 2: Number of DPs > Number of FRs: Redundant Design Case 3: Number of DPs = Number of FRs: Ideal Design
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Axiomatic Design
Case 1: Number of DPs < Number of FRs: Coupled Design Case 2: Number of DPs > Number of FRs: Redundant Design Case 3: Number of DPs = Number of FRs: Ideal Design
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Axiomatic Design
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Axiomatic Design
Example 1
Cutting a Rod to a Length Suppose we need to cut Rod A to 1 0.000001 m and Rod B to 1 0.1 m.
Which has a higher probability of success? How does the probability of success change if the nominal length of the rod is 30 m rather than 1 m?
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Axiomatic Design
Example 1
Cutting a Rod to a Length Suppose we need to cut Rod A to 1 0.000001 m and Rod B to 1 0.1 m.
Which has a higher probability of success? How does the probability of success change if the nominal length of the rod is 30 m rather than 1 m?
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Axiomatic Design
Example 1
Cutting a Rod to a Length Suppose we need to cut Rod A to 1 0.000001 m and Rod B to 1 0.1 m.
Which has a higher probability of success? How does the probability of success change if the nominal length of the rod is 30 m rather than 1 m?
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Axiomatic Design
Example 1 (Contd)
Solution depends on the cutting equipment available the one that has to be cut within 1 m will be more difcult because the probability of success is smaller the job with the lower prob. of success is more complex the probability of introducing errors increases with the nominal length. P=f tolerance nominal length (5)
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Axiomatic Design
Example 1 (Contd)
Solution depends on the cutting equipment available the one that has to be cut within 1 m will be more difcult because the probability of success is smaller the job with the lower prob. of success is more complex the probability of introducing errors increases with the nominal length. P=f tolerance nominal length (5)
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Axiomatic Design
Example 1 (Contd)
Solution depends on the cutting equipment available the one that has to be cut within 1 m will be more difcult because the probability of success is smaller the job with the lower prob. of success is more complex the probability of introducing errors increases with the nominal length. P=f tolerance nominal length (5)
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Axiomatic Design
Example 1 (Contd)
Solution depends on the cutting equipment available the one that has to be cut within 1 m will be more difcult because the probability of success is smaller the job with the lower prob. of success is more complex the probability of introducing errors increases with the nominal length. P=f tolerance nominal length (5)
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Axiomatic Design
Example 1 (Contd)
Solution depends on the cutting equipment available the one that has to be cut within 1 m will be more difcult because the probability of success is smaller the job with the lower prob. of success is more complex the probability of introducing errors increases with the nominal length. P=f tolerance nominal length (5)
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Axiomatic Design
Example 1 (Contd)
Design range, system range, common range, and system pdf for a functional requirement
I = log2
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Axiomatic Design
Example 1 (Contd)
Design range, system range, common range, and system pdf for a functional requirement
I = log2
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Axiomatic Design
Example 1 (Contd)
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Axiomatic Design
Example 2
Refrigerator Door Design
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Axiomatic Design
Example 3
Refrigerator Design FR1 Freeze food for long-term preservation. FR2 Maintain food at cold temperature for short-term preservation.
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Axiomatic Design
Example 3 (Contd)
Refrigerator Design FR1 Freeze food for long-term preservation. FR2 Maintain food at cold temperature for short-term preservation. DP1 The freezer section. DP2 The chiller (i.e., refrigerator) section preservation.
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Axiomatic Design
Example 3 (Contd)
Refrigerator Design FR1 Freeze food for long-term preservation. FR2 Maintain food at cold temperature for short-term preservation. DP1 The freezer section. DP2 The chiller (i.e., refrigerator) section preservation.
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Axiomatic Design
Example 3 (Contd)
FR1 FR11 Control the temperature of the freezer section in the range of 18 2 . FR12 Maintain a uniform temperature throughout the freezer section at the preset temperature. FR13 Control humidity of the freezer section to relative humidity of 50%. FR2 FR21 Control the temperature of the chiller section in the range of 2 to 3 . FR22 Maintain a uniform temperature throughout the freezer section within 0.5 of the preset temperature.
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Axiomatic Design
Example 3 (Contd)
FR1 FR11 Control the temperature of the freezer section in the range of 18 2 . FR12 Maintain a uniform temperature throughout the freezer section at the preset temperature. FR13 Control humidity of the freezer section to relative humidity of 50%. FR2 FR21 Control the temperature of the chiller section in the range of 2 to 3 . FR22 Maintain a uniform temperature throughout the freezer section within 0.5 of the preset temperature.
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Axiomatic Design
Example 3 (Contd)
FR1 FR11 Control the temperature of the freezer section in the range of 18 2 . FR12 Maintain a uniform temperature throughout the freezer section at the preset temperature. FR13 Control humidity of the freezer section to relative humidity of 50%. DP1 DP11 Sensor/compressor system that turns the compressor on (off) when the air temperature is higher (lower) than the set temperature in the freezer section. DP12 Air circulation system that blows air into the freezer section and circulates it uniformly throughout the freezer section at all times. DP13 Condenser that condenses the moisture in the returned air when its dew point is exceeded.
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Axiomatic Design
Example 3 (Contd)
FR1 FR11 Control the temperature of the freezer section in the range of 18 2 . FR12 Maintain a uniform temperature throughout the freezer section at the preset temperature. FR13 Control humidity of the freezer section to relative humidity of 50%. DP1 DP11 Sensor/compressor system that turns the compressor on (off) when the air temperature is higher (lower) than the set temperature in the freezer section. DP12 Air circulation system that blows air into the freezer section and circulates it uniformly throughout the freezer section at all times. DP13 Condenser that condenses the moisture in the returned air when its dew point is exceeded.
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Axiomatic Design
Example 3 (Contd)
Design equation 1
(7)
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Axiomatic Design
Example 3 (Contd)
FR2 FR21 Control the temperature of the chiller section in the range of 2 to 3 . FR22 Maintain a uniform temperature throughout the freezer section within 0.5 of the preset temperature. DP2 DP11 Sensor/compressor system that turns the compressor on (off) when the air temperature is higher (lower) than the set temperature in the chiller section. DP12 Air circulation system that blows air into the chiller section and circulates it uniformly throughout the freezer section at all times.
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Axiomatic Design
Example 3 (Contd)
FR2 FR21 Control the temperature of the chiller section in the range of 2 to 3 . FR22 Maintain a uniform temperature throughout the freezer section within 0.5 of the preset temperature. DP2 DP11 Sensor/compressor system that turns the compressor on (off) when the air temperature is higher (lower) than the set temperature in the chiller section. DP12 Air circulation system that blows air into the chiller section and circulates it uniformly throughout the freezer section at all times.
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Axiomatic Design
Example 3 (Contd)
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Axiomatic Design
Example 3 (Contd)
Schematic
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Axiomatic Design
Example 4
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Axiomatic Design
Example 4
Hot and Cold Water Faucet FR1 : Control the water ow rate Q without affecting the water temperature FR2 : Control the temperature T without affecting ow rate
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Axiomatic Design
Example 4
Hot and Cold Water Faucet FR1 : Control the water ow rate Q without affecting the water temperature FR2 : Control the temperature T without affecting ow rate
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Axiomatic Design
Example 4
Hot and Cold Water Faucet FR1 : Control the water ow rate Q without affecting the water temperature FR2 : Control the temperature T without affecting ow rate
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Axiomatic Design
Example 4 (Contd)
A coupled hot water (HW) and cold water (CW) faucet
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Axiomatic Design
Example 4 (Contd)
A coupled hot water (HW) and cold water (CW) faucet
Q T
1 2
(9)
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Axiomatic Design
Example 4 (Contd)
A uncoupled hot water (HW) and cold water (CW) faucet
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Axiomatic Design
Example 4 (Contd)
A uncoupled hot water (HW) and cold water (CW) faucet
Q T
0 0
1 2
(10)
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Axiomatic Design
Example 4 (Contd)
Another uncoupled hot water (HW) and cold water (CW) faucet
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Axiomatic Design
Example 4 (Contd)
Another uncoupled hot water (HW) and cold water (CW) faucet
Q T
0 0
(11)
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Axiomatic Design
Example 4 (Contd)
Another uncoupled hot water (HW) and cold water (CW) faucet
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Axiomatic Design
Example 4 (Contd)
Another uncoupled hot water (HW) and cold water (CW) faucet
Q T
0 0
X Y
(12)
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Axiomatic Design
Example 4 (Contd)
Q T
0 0
(13)
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Axiomatic Design
Example 4 (Contd)
Q T
0 0
(13)
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Axiomatic Design
Example 5
Two-degree-of-freedom Robot Arm
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Axiomatic Design
Example 5 (Contd)
FRs FR1 : The overall stiffness, K (i.e., resistance to deection when the load is applied at the end effector) FR2 : the overall accuracy in positioning the end effector 1 ) FR3 : acceleration of joint 1 ( 2 ) FR4 : acceleration of joint 2 ( DPs DP1 : Stiffness of the motor 1 (torque exerted by the rotor of the motor 1 divided by rotation) = 1 /1 DP2 : Stiffness of the motor 2 (torque exerted by the rotor of the motor 1 divided by rotation) = 2 /2 DP3 : Inertia of arm 1 = (Hij )1 DP4 : Inertia of arm 2 = (Hij )2
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Axiomatic Design
Example 5 (Contd)
FRs FR1 : The overall stiffness, K (i.e., resistance to deection when the load is applied at the end effector) FR2 : the overall accuracy in positioning the end effector 1 ) FR3 : acceleration of joint 1 ( 2 ) FR4 : acceleration of joint 2 ( DPs DP1 : Stiffness of the motor 1 (torque exerted by the rotor of the motor 1 divided by rotation) = 1 /1 DP2 : Stiffness of the motor 2 (torque exerted by the rotor of the motor 1 divided by rotation) = 2 /2 DP3 : Inertia of arm 1 = (Hij )1 DP4 : Inertia of arm 2 = (Hij )2
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Axiomatic Design
Example 5 (Contd)
FRs FR1 : The overall stiffness, K (i.e., resistance to deection when the load is applied at the end effector) FR2 : the overall accuracy in positioning the end effector 1 ) FR3 : acceleration of joint 1 ( 2 ) FR4 : acceleration of joint 2 ( DPs DP1 : Stiffness of the motor 1 (torque exerted by the rotor of the motor 1 divided by rotation) = 1 /1 DP2 : Stiffness of the motor 2 (torque exerted by the rotor of the motor 1 divided by rotation) = 2 /2 DP3 : Inertia of arm 1 = (Hij )1 DP4 : Inertia of arm 2 = (Hij )2
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Axiomatic Design
Example 5 (Contd)
Design equation 1
K 0 0 1 = 2
1 /1 2 /2 (Hij )1 (Hij )2
(14)
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Axiomatic Design
Example 5 (Contd)
Two-degree-of-freedom Robot Arm
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Axiomatic Design
Example 5 (Contd)
FRs FR1 : The overall stiffness, K FR2 : the overall accuracy in positioning the end effector 1 ) FR3 : acceleration of joint 1 ( 2 ) FR4 : acceleration of joint 2 ( DPs DP1 : Stiffness of the motor 1 = 1 /1 DP2 : Stiffness of the motor 2 = 2 /2 DP3 : Inertia reected on motor 1 DP4 : Inertia reected on motor 2
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Axiomatic Design
Example 5 (Contd)
FRs FR1 : The overall stiffness, K FR2 : the overall accuracy in positioning the end effector 1 ) FR3 : acceleration of joint 1 ( 2 ) FR4 : acceleration of joint 2 ( DPs DP1 : Stiffness of the motor 1 = 1 /1 DP2 : Stiffness of the motor 2 = 2 /2 DP3 : Inertia reected on motor 1 DP4 : Inertia reected on motor 2
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Axiomatic Design
Example 5 (Contd)
FRs FR1 : The overall stiffness, K FR2 : the overall accuracy in positioning the end effector 1 ) FR3 : acceleration of joint 1 ( 2 ) FR4 : acceleration of joint 2 ( DPs DP1 : Stiffness of the motor 1 = 1 /1 DP2 : Stiffness of the motor 2 = 2 /2 DP3 : Inertia reected on motor 1 DP4 : Inertia reected on motor 2
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Axiomatic Design
Example 5 (Contd)
(15)
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Axiomatic Design
Example 6
Buying a House
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Axiomatic Design
Example 6 (Contd)
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Axiomatic Design
Example 6 (Contd)
Conclusions
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Axiomatic Design
Remarks
Does a smooth nonlinear function exist? Minimize the number of FRs and constraints. The design matrix is more a binary matrix Uncoupled design may lead to weak design, i.e., design matrix with high condition number Do we really need decoupling? What about units? (Semangularity and Reangularity) Functional requirements are usually phrases
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Axiomatic Design
Remarks
Does a smooth nonlinear function exist? Minimize the number of FRs and constraints. The design matrix is more a binary matrix Uncoupled design may lead to weak design, i.e., design matrix with high condition number Do we really need decoupling? What about units? (Semangularity and Reangularity) Functional requirements are usually phrases
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Axiomatic Design
Remarks
Does a smooth nonlinear function exist? Minimize the number of FRs and constraints. The design matrix is more a binary matrix Uncoupled design may lead to weak design, i.e., design matrix with high condition number Do we really need decoupling? What about units? (Semangularity and Reangularity) Functional requirements are usually phrases
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Axiomatic Design
Remarks
Does a smooth nonlinear function exist? Minimize the number of FRs and constraints. The design matrix is more a binary matrix Uncoupled design may lead to weak design, i.e., design matrix with high condition number Do we really need decoupling? What about units? (Semangularity and Reangularity) Functional requirements are usually phrases
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Axiomatic Design
Remarks
Does a smooth nonlinear function exist? Minimize the number of FRs and constraints. The design matrix is more a binary matrix Uncoupled design may lead to weak design, i.e., design matrix with high condition number Do we really need decoupling? What about units? (Semangularity and Reangularity) Functional requirements are usually phrases
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Axiomatic Design
Remarks
Does a smooth nonlinear function exist? Minimize the number of FRs and constraints. The design matrix is more a binary matrix Uncoupled design may lead to weak design, i.e., design matrix with high condition number Do we really need decoupling? What about units? (Semangularity and Reangularity) Functional requirements are usually phrases
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Robust Design
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Robust Design
Robust Design
References
1
Taguchi, G., On Robust Technology Development. Bringing Quality Engineering Upstream, 1993 (ASME Press, New York) Caro, S., Bennis, F. and Wenger, P., Tolerance Synthesis of Mechanisms: a Robust Design Approach, ASME Journal of Mechanical Design, 127, pp. 8694 ` de Caro, S., 2004, Conception Robuste de Mecanismes , These de Nantes, Nantes, doctorat, Ecole Centrale de Nantes, Universite France
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Robust Design
Robust Design
References
1
Taguchi, G., On Robust Technology Development. Bringing Quality Engineering Upstream, 1993 (ASME Press, New York) Caro, S., Bennis, F. and Wenger, P., Tolerance Synthesis of Mechanisms: a Robust Design Approach, ASME Journal of Mechanical Design, 127, pp. 8694 ` de Caro, S., 2004, Conception Robuste de Mecanismes , These de Nantes, Nantes, doctorat, Ecole Centrale de Nantes, Universite France
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Robust Design
Robust Design
References
1
Taguchi, G., On Robust Technology Development. Bringing Quality Engineering Upstream, 1993 (ASME Press, New York) Caro, S., Bennis, F. and Wenger, P., Tolerance Synthesis of Mechanisms: a Robust Design Approach, ASME Journal of Mechanical Design, 127, pp. 8694 ` de Caro, S., 2004, Conception Robuste de Mecanismes , These de Nantes, Nantes, doctorat, Ecole Centrale de Nantes, Universite France
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Robust Design
Robust Design
References
1
Taguchi, G., On Robust Technology Development. Bringing Quality Engineering Upstream, 1993 (ASME Press, New York) Caro, S., Bennis, F. and Wenger, P., Tolerance Synthesis of Mechanisms: a Robust Design Approach, ASME Journal of Mechanical Design, 127, pp. 8694 ` de Caro, S., 2004, Conception Robuste de Mecanismes , These de Nantes, Nantes, doctorat, Ecole Centrale de Nantes, Universite France
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Robust Design
Robust Design
The roots of poor quality in goods or services are to be found in the sensitivity of these to variations in operation conditions (Taguchi, 78). The design of a mechanism is robust when its performance is as little sensitive to variations in design variables and design environment parameters as possible (Caro, 03).
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Robust Design
Robust Design
The roots of poor quality in goods or services are to be found in the sensitivity of these to variations in operation conditions (Taguchi, 78). The design of a mechanism is robust when its performance is as little sensitive to variations in design variables and design environment parameters as possible (Caro, 03).
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Robust Design
Principles due to G. Taguchi (1987): Minimum loss function; minimum sensitivity of the designed object to variations in the design environment.
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Robust Design
Principles due to G. Taguchi (1987): Minimum loss function; minimum sensitivity of the designed object to variations in the design environment.
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Robust Design
Taguchis philosophy is based on two concepts The loss function: measures the quality loss for the customer due to a bad product design; Signal/Noise ratio: measures the sensitivity of the design performance to variations in design environmental parameters. = S = log10 N 2 2 (16)
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Robust Design
Taguchis philosophy is based on two concepts The loss function: measures the quality loss for the customer due to a bad product design; Signal/Noise ratio: measures the sensitivity of the design performance to variations in design environmental parameters. = S = log10 N 2 2 (16)
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Robust Design
Taguchis philosophy is based on two concepts The loss function: measures the quality loss for the customer due to a bad product design; Signal/Noise ratio: measures the sensitivity of the design performance to variations in design environmental parameters. = S = log10 N 2 2 (16)
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Robust Design
Taguchis philosophy is based on two concepts The loss function: measures the quality loss for the customer due to a bad product design; Signal/Noise ratio: measures the sensitivity of the design performance to variations in design environmental parameters. = S = log10 N 2 2 (16)
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Robust Design
Taguchis philosophy is based on two concepts The loss function: measures the quality loss for the customer due to a bad product design; Signal/Noise ratio: measures the sensitivity of the design performance to variations in design environmental parameters. = S = log10 N 2 2 (16)
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Robust Design
Taguchis Example
Quality levels of Sony color TV sets made in Japan and San Diego
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Robust Design
Example (Contd)
Process capability index Cp = Tolerance 6 Standard deviation Cp (Japan) Cp (San Diego) = 1 = 0.577 (17)
(18) (19)
Tolerance 6
Tolerance 12
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Robust Design
Example (Contd)
Process capability index Cp = Tolerance 6 Standard deviation Cp (Japan) Cp (San Diego) = 1 = 0.577 (17)
(18) (19)
Tolerance 6
Tolerance 12
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Robust Design
Example (Contd)
Process capability index Cp = Tolerance 6 Standard deviation Cp (Japan) Cp (San Diego) = 1 = 0.577 (17)
(18) (19)
Tolerance 6
Tolerance 12
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Robust Design
When an objective characteristic y deviates from its target value m, some nancial loss will occur. Loss function y m L(y ) = L(m) = 0 L (m) = 0 by means of a Taylor series expansion of L around m L(y ) = L(m) + L (m) L (m) (y m) + (y m)2 + 1! 2! L (m ) (y m)2 + 2! (22) (23) (20) (21)
L(y ) =
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Robust Design
When an objective characteristic y deviates from its target value m, some nancial loss will occur. Loss function y m L(y ) = L(m) = 0 L (m) = 0 by means of a Taylor series expansion of L around m L(y ) = L(m) + L (m) L (m) (y m) + (y m)2 + 1! 2! L (m ) (y m)2 + 2! (22) (23) (20) (21)
L(y ) =
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Robust Design
When an objective characteristic y deviates from its target value m, some nancial loss will occur. Loss function y m L(y ) = L(m) = 0 L (m) = 0 by means of a Taylor series expansion of L around m L(y ) = L(m) + L (m) L (m) (y m) + (y m)2 + 1! 2! L (m ) (y m)2 + 2! (22) (23) (20) (21)
L(y ) =
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Robust Design
When an objective characteristic y deviates from its target value m, some nancial loss will occur. Loss function y m L(y ) = L(m) = 0 L (m) = 0 by means of a Taylor series expansion of L around m L(y ) = L(m) + L (m) L (m) (y m) + (y m)2 + 1! 2! L (m ) (y m)2 + 2! (22) (23) (20) (21)
L(y ) =
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Robust Design
Loss function L(y ) = k (y m)2 with k= Cost of a defective product A = 2 2 Tolerance (24) (25)
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Robust Design
Solution Let the adjustment cost be: A = $6 k= with L = $0.24(y m)2 (27) 6 = $0.24 52 (26)
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Robust Design
Solution
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Robust Design
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Robust Design
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Robust Design
Performance Functions (PFs) depend on DVs and DEPs f = [f1 , f2 , . . . fn ]T f = f (x, p) (30) (31)
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Robust Design
Performance Functions (PFs) depend on DVs and DEPs f = [f1 , f2 , . . . fn ]T f = f (x, p) (30) (31)
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Robust Design
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Robust Design
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Robust Design
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Robust Design
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Robust Design
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Robust Design
Optimization Problem
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Robust Design
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Robust Design
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Robust Design
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Robust Design
Robustness Index
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Robust Design
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Robust Design
Design Sensitivity
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Robust Design
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Robust Design
Robustness Index
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Robust Design
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Robust Design
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Robust Design
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Robust Design
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Robust Design
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Robust Design
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Robust Design
Conclusion
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Complexity-Based Design
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Complexity-Based Design
Complexity-Based Design
References
1
Khan, W.A., Caro, S., Pasini, D. and Angeles, J., Complexity analysis of curves and surfaces: application to the geometric complexity of lower kinematic pairs. Submitted to Special Issue on Computer Support for Conceptual Design, Computer-Aided Design, on Aug, 9th, 2006, CADD- 06-00171. Khan, W.A., Caro, S., Pasini, D., Angeles, J., Complexity-Based Rules for the Conceptual Design of Robotic Architectures, 10th International Symposium on Advances in Robot Kine- matics, June 25-29, 2006, Ljubljana, Slovenia Khan, W.A., Caro, S., Angeles, J. and Pasini, D., A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic Architectures, International Conference on Engineering Design, ICED07, August 28-31, 2007, Paris, France
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Complexity-Based Design
Complexity-Based Design
References
1
Khan, W.A., Caro, S., Pasini, D. and Angeles, J., Complexity analysis of curves and surfaces: application to the geometric complexity of lower kinematic pairs. Submitted to Special Issue on Computer Support for Conceptual Design, Computer-Aided Design, on Aug, 9th, 2006, CADD- 06-00171. Khan, W.A., Caro, S., Pasini, D., Angeles, J., Complexity-Based Rules for the Conceptual Design of Robotic Architectures, 10th International Symposium on Advances in Robot Kine- matics, June 25-29, 2006, Ljubljana, Slovenia Khan, W.A., Caro, S., Angeles, J. and Pasini, D., A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic Architectures, International Conference on Engineering Design, ICED07, August 28-31, 2007, Paris, France
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Complexity-Based Design
Complexity-Based Design
References
1
Khan, W.A., Caro, S., Pasini, D. and Angeles, J., Complexity analysis of curves and surfaces: application to the geometric complexity of lower kinematic pairs. Submitted to Special Issue on Computer Support for Conceptual Design, Computer-Aided Design, on Aug, 9th, 2006, CADD- 06-00171. Khan, W.A., Caro, S., Pasini, D., Angeles, J., Complexity-Based Rules for the Conceptual Design of Robotic Architectures, 10th International Symposium on Advances in Robot Kine- matics, June 25-29, 2006, Ljubljana, Slovenia Khan, W.A., Caro, S., Angeles, J. and Pasini, D., A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic Architectures, International Conference on Engineering Design, ICED07, August 28-31, 2007, Paris, France
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Complexity-Based Design
Complexity-Based Design
References
1
Khan, W.A., Caro, S., Pasini, D. and Angeles, J., Complexity analysis of curves and surfaces: application to the geometric complexity of lower kinematic pairs. Submitted to Special Issue on Computer Support for Conceptual Design, Computer-Aided Design, on Aug, 9th, 2006, CADD- 06-00171. Khan, W.A., Caro, S., Pasini, D., Angeles, J., Complexity-Based Rules for the Conceptual Design of Robotic Architectures, 10th International Symposium on Advances in Robot Kine- matics, June 25-29, 2006, Ljubljana, Slovenia Khan, W.A., Caro, S., Angeles, J. and Pasini, D., A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic Architectures, International Conference on Engineering Design, ICED07, August 28-31, 2007, Paris, France
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Complexity-Based Design
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