Integrated design of legged mechatronic system

2009年第4卷第3期

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《机械工程前沿（英文）》 >> 2009年第4卷第3期 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

发布日期： 2009-09-05

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摘要

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.

关键词

integrated design ; design for control ; legged mechatronic system ; computer aided rapid system integration