Integrated design of legged mechatronic system

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.

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

References

1 Manuel A, Pablo Gonzalez de Santos. Climbing and Walking Robots. Berlin: Springer, 2005

2 Tokhi MO, Hossain M A, Virk G S. Climbing and Walking Robots. Berlin: Springer, 2006

3 Sardain P, Rostami M, Bessonnet G. An Anthropomorphic biped robot: dynamic concepts and technological design. IEEE Transactions on System, Man, and Cybernetics—PART A: Systems and Humans, 1998, 28 (6): 823-838

4 Shieh W B, Tsai L W, Azarm S. Design and optimization of a one-degree-of freedom six-bar leg mechanism for a walking machine. Journal of Robotic System, 1997, 14 (12): 871-880

5 Chen Y J. Mechanism design of an 8-link type biped walking machine with auxiliary wheels. Master Thesis, National Cheng Kung Univ, 2004

6 Ottaviano E, Lanni C, Ceccarelli M. Numerical and Experimental Analysis of a Pantograph-Leg with a Fully-Rorative Actuating Mechanism. In: Proc of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, 2004

7 Zhang W, Li Q, Guo S. Integrated design of mechanical structure and control algorithm for a programmable four-bar linkage. IEEE/ASME Transactions on Mechatronics, 1999, 4 (4): 354-362

8 Li Q, Zhang W J, Chen L. Design for control-a concurrent engineering approach for MT systems design. IEEE/ASME Trans on Mech, 2001, 6 (2): 161-169

9 Amerongen J van. Mechatronic design. Journal of Mechatronics, 2003, 13 (10): 1045-1066

10 Amerongen J van, Breedveld P C. Modelling of physical systems for the design and control of mechatronic systems (IFAC professional brief). Annual Reviews in Control, 2003, 27: 87-117

11 Wu F X, Zhang W J, Li Q, Ouyang P R. Integrated design and PD control of high-speed closed-loop mechanisms. ASME J Dyn Syst, Meas, Control, 2002, 124: 522-528

12 Yan H S, Soong R C. Kinematic and dynamic design of four-bar linkages by links counterweighing with variable input speed. Mech Mach Theory, 2001,β36 (9): 1051-1071

13 Yang J, Han S, Cho J, Kim B, Lee H Y. An XML-based macro data representation for a parametric CAD model exchange. Computer-Aided Design and Applications, 2004, 1 (1-4): 153-162

14 Glesner M, Kirschbaum A, Renner F M, Voss B. State-of-the-art in rapid prototyping for MT systems. MTs, 2002,β12 (8): 987-998

15 Bucher R, Balemi S. Rapid controller prototyping with Matlab/Simulink and Linux. Control Eng Prac,2006,β14 (2): 185-192

16 Deppe M, Zanella M, Robrecht M, Hardt W. Rapid prototyping of real-time control laws for complex MT systems: a case study. Journal of Systems and Software, 2004,β70 (3): 263-274

17 Sun I. C. The Integration of MATLAB and embedded controller for control application. Master Thesis, National Sun Yat-Sen Univ, 2004

18 ICP DAS Co. User manual of I8438/8838 Matlab embedded control