Chrono help for example file

What to do: load the file. Use menu 'Windows, Tool window, go to the Optimization tab, browse the 'Pre optim.' filename to the chrono/javascript/rob03_pre_optimize.js script (this will automatically set the objective function and optimized vars, for you). Also browse the 'Post optim.' filename to the chrono/javascript/rob03_post_optimize.js script. Set the 'Phase B (local)' to OFF. Now, press 'Apply' and wait (1/2 minutes on PC with average speed), then at the end the mechanism will get the optimized shape (the shape which minimizes the objective function).

The genetic optimization will modify the mechanism shape until it will get the linkage which satisfies best the objective function. In this example, the objective function is the contitioning number of the jacobian of the inverse kinematics of this strange 3-DOF parallel manipulator (in few words, after the optimization, the shape will be distorted in order to get a more 'stiff' manipulator). In detail, the three markers which represent the anchorage points of the linear actuators on the red square were moved to better U,V positions on that square, and the length of the three yellow actuators got better lengths, for a stiffer structure.

Use an ASCII editor (es. Notepad) to look at the way we made the chrono/javascript/rob03_post_optimize.js and chrono/javascript/rob03_pre_optimize.js scripts, so you will learn to optimize your own mechanisms.