Integrated control and mechanism design for the variable input-speed servo four-bar linkages

Yan, Hong‐Sen; Yan, Guo-Jhih

doi:10.1016/j.mechatronics.2008.07.008

Cited by 61 publications

(26 citation statements)

References 32 publications

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“…Please see also Refs. [1][2][3][4][5][16][17][18] for examples of complex co-design problems that utilize nontraditional problem elements in the general co-design problem class.…”

Section: Test Problemsmentioning

confidence: 99%

“…The plant design may comprise the geometric properties of the links and the control design may be embodied by the joint torque time trajectories for a specific task [1]. Many authors have shown the benefit of a combined strategy rather than a sequential approach [2][3][4][5][6]. With a sequential approach, the plant is optimized initially, followed by the controller [6,7].…”

Section: Introductionmentioning

confidence: 99%

“…Recently, numerical solution methods have been utilized to solve co-design problems that are not captured by previous problem definitions [7,8]. Nontraditional problem formulation elements include system-level objective functions, general inequality path constraints, and general boundary conditions [1][2][3][4][5][16][17][18]. With these nontraditional problem elements, much of the previous work in co-design theory does not apply.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nested and Simultaneous Solution Strategies for General Combined Plant and Controller Design Problems

Herber

Allison

2017

Volume 2A: 43rd Design Automation Conference

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In this article, general combined plant and controller design or co-design problems are examined. Previous work in co-design theory imposed restrictions on the type of problems that could be posed. This article lifts many of those restrictions. The problem formulations and optimality conditions for both the simultaneous and nested solution strategies are given. Due to a number of challenges associated with the optimality conditions, practical solution considerations are discussed with a focus the motivating reasons for using direct transcription in co-design. This article highlights some of the key concepts in general co-design including general coupling, the differences between the feasible regions for each strategy, general boundary conditions, inequality path constraints, system-level objectives, and the complexity of the closed-form solutions. Three co-design test problems are provided. A number of research directions are proposed to further co-design theory including tailored solution methods for reducing total computational expense, better comparisons between the two solution strategies, and more realistic test problems.

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“…Please see also Refs. [1][2][3][4][5][16][17][18] for examples of complex co-design problems that utilize nontraditional problem elements in the general co-design problem class.…”

Section: Test Problemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nested and Simultaneous Solution Strategies for General Combined Plant and Controller Design Problems

Herber

Allison

2017

Volume 2A: 43rd Design Automation Conference

View full text Add to dashboard Cite

show abstract

“…In order to find ways to overcome these problems, under the funding of the doctoral scientific research foundation of Shandong Jiaotong University, the latest theory of mechanism [4][5][6][7][8][9][10] was applied to design the working devices of the construction machinery, and some of multi-DOF controllable loading mechanism was invented [11][12], which are mechanical loaders that can realize flexible control of bucket trajectory, and use link mechanism instead of hydraulic transmission. This kind of loading mechanism not only low in energy consumption, high in reliability and flexible in action, but also in full electric control, which is very suitable for the manufacture of a super small loader.…”

Section: Introductionmentioning

confidence: 99%

The inverse kinematics analysis and simulation study on the controllable loading mechanism

Zhang

Cai

2018

MATEC Web Conf.

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Abstract. The multi-DOF controllable loading mechanism adopts the electric drive system to replace the hydraulic drive system of traditional loader, not only has higher transmission efficiency and has better mechanical and electrical integration level, but also overcome the shortcomings of high cost of manufacture and maintenance.The inverse kinematics model of this type of loading mechanism was built by means of closed loop vector method. According to the performance index of the loading mechanism, the inverse kinematics model was solved by means of MATLAB software, and the input motion law of the two driving lever at different period of time is obtained, and a small prototype is built, which provides the basis for control system programming of this new type of leading mechanism. To some extent, this research lays a foundation for further development of this type of loading mechanism.

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“…First, the design of the structure is carried out, and then the design of the controller is performed. Several works [3]- [8] have theoretically and experimentally demonstrated that by designing the structure and control in a single step, the system performance is improved when compared with a traditional design. Hence, the mechanical system design can contribute to the controller design and vice versa in the improvement of the system performance.…”

Section: Introductionmentioning

confidence: 99%

Robust Structure-Control Design Approach for Mechatronic Systems

Villarreal-Cervantes¹,

Cruz-Villar

Álvarez-Gallegos³

et al. 2013

IEEE/ASME Trans. Mechatron.

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In this paper, a robust formulation for the structurecontrol design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization one, which in order to consider synergetic interactions uses mechanical and control nominal design objectives. A planar parallel robot and its controller are simultaneously designed with the proposed approach when the nominal design objectives are the tracking error and the manipulability measure. The payload at the end-effector is considered as the uncertain parameter. Experimental results show that a robustly designed parallel robot presents lower sensitivity of the nominal design objectives under the effects of changes at the payload than a nonrobustly designed one.Index Terms-Differential evolution algorithm, mechatronic design, robust structure-control design.

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Integrated control and mechanism design for the variable input-speed servo four-bar linkages

Cited by 61 publications

References 32 publications

Nested and Simultaneous Solution Strategies for General Combined Plant and Controller Design Problems

Nested and Simultaneous Solution Strategies for General Combined Plant and Controller Design Problems

The inverse kinematics analysis and simulation study on the controllable loading mechanism

Robust Structure-Control Design Approach for Mechatronic Systems

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