Mechatronic design concept and its application to pick-and-place robotic systems
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TECHNICAL PAPER
Mechatronic design concept and its application to pick-and-place robotic systems Maı´ra M. da Silva • Luiz A. M. Gonc¸alves
Received: 17 June 2011 / Accepted: 25 July 2012 / Published online: 14 March 2013 Ó The Brazilian Society of Mechanical Sciences and Engineering 2013
Abstract Mechatronic design can be defined as the integrated design of mechanical systems and their embedded control system. Two main challenges in designing mechatronic systems are treated in this manuscript: challenges in modeling mechatronic systems and challenges in optimizing mechatronic systems. Modeling methodologies, model-reduction strategies, control system evaluation have been discussed in order to overcome some of the challenges regarding modeling issues. Regarding the optimization issues, two methodologies have been proposed: the nested and the direct strategies. In this manuscript, the design of a mixed kinematic pick-and-place robot demonstrates the main challenges regarding mechatronic design. It can be concluded that, for this case study, tighter performance requirements and robustness have been achieved using more advanced control strategies, such as the ones derived using model-based control design. These control strategies can only be considered when using the nested design strategy. In both strategies, design tradeoffs can be evaluated qualitatively and quantitatively aiding the designer during mechatronic design of robotic systems. Keywords Mechatronic design Optimization Pick-and-place robots
Technical Editor: Glauco Carin. M. M. da Silva (&) L. A. M. Gonc¸alves Sa˜o Carlos School of Engineering, University of Sa˜o Paulo, Av. Trabalhador Sancarlense 400, Sa˜o Carlos, SP 13566-590, Brazil e-mail: [email protected]
1 Introduction Among the various definitions of mechatronics, two of them summarize the main subjects of this article: 1.
2.
Mechatronics can be defined as the science of motion control that comprises the control of desired motion (tracking control) and the control of undesired motion (vibration cancelation) [22, 23] and Mechatronic design is the integrated design of a mechanical system and its embedded control system [21].
The definition 1 reveals the aspects that should be included during the design of mechatronic systems: control actions, system motions and flexibilities. Therefore, simulation tools for supporting the design of mechatronic systems should allow the dynamic modeling of the machine, the control system design and the closed-loop system evaluation. The control system design can be more specifically described by the definition of a control strategy, the selection and configuration of sensors and actuators, the control gains, etc. The standard design approach, i.e. a sequential mono-disciplinary approach, has been used successfully in the past and is still used in cases where stiff structures are considered and performance requirements are not so strict [21, 23]. Nowadays, the designers need to cope with the ever increasing demand for faster and more accurate machines. Faste
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