Task Based Mechatronic System Design using Differential Evolution Strategies
Abstract. A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2009 |
| País: | México |
| Institución: | Instituto Politécnico Nacional |
| Repositorio: | Repositorio Digital del IPN |
| OAI Identifier: | oai:www.repositoriodigital.ipn.mx:123456789/16713 |
| Acceso en línea: | http://www.repositoriodigital.ipn.mx/handle/123456789/16713 |
| Access Level: | acceso abierto |
| Palabra clave: | Keywords. Mechatronic design, Task based design, Evolutionary algorithms, System optimization, Parallel robot. |
| Sumario: | Abstract. A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this approach which integrates in a simultaneous way both the structure design parameters of a parallel robot and the PID controller gains in order to improve the position errors and the robot dexterity for executing a specific task. The TBMSDA considers the dynamic system as an equality constraint into the optimization problem. Through the TBMSDA, an optimal combination of the structure and PID controller gains for a planar five-bar parallel robot is obtained. Simulation results show the effectiveness of this design approach. |
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