Journal Home Online First Current Issue Archive For Authors Journal Information 中文版

2009, Volume 4, Issue 3

Abstract

Keywords

Related Research

Back to Top

Frontiers of Mechanical Engineering >> 2009, Volume 4, Issue 3 doi: 10.1007/s11465-009-0060-7

Integrated design of legged mechatronic system

1. Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, China; 2. School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

Available online: 2009-09-05
HTML25 PDF 1 Collect 0

Next Previous

Abstract

This paper presents a system based on the integrated design and experiment for a one degree-of-freedom (DOF) legged mechatronic system (LMTS). A six-bar linkage mechanism, which is derived from a four-bar linkage with a symmetrical coupler point and pantograph into one, is designed, and common controllers are used to control the velocity and position loops. For system-based dynamic optimization, the design for control (DFC) approach is used to integrate the structure and control for improving dynamic performance with reduced control torque. Finally, for a rapid 3D graphical based implementation of the system, high-level computer-aided rapid system integration (CARSI) technology is used to integrate the structure design, controller design, and system implementation into the design and analytical software environment based on Pro/engineer, XML syntax, Simmechanics, and Simulink. Thus, the development time for the LMTS is reduced.

Related Research