Computer-aided integrated design for machines with varying dynamics
2009; Elsevier BV; Volume: 44; Issue: 9 Linguagem: Inglês
10.1016/j.mechmachtheory.2009.02.006
ISSN1873-3999
AutoresMaíra Martins da Silva, Olivier Brüls, Jan Swevers, Wim Desmet, Hendrik Van Brussel,
Tópico(s)Iterative Learning Control Systems
ResumoThis paper discusses the integrated design of mechatronic systems with varying dynamics, such as serial and parallel machine tools. This characteristic affects the machine stability and performance. A computer-aided integrated design methodology is proposed and validated on a pick-and-place robot. It consists of two main steps: (i) the derivation of reduced models from a flexible multibody model and (ii) the systematic robust control design. Eventually, the integrated design of the system, considering both structural and control parameters, can be performed.
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