Integrated design of legged mechatronic system

doi:10.1007/s11465-009-0060-7

Front Mech Eng Chin

2009, Vol. 4

Issue (3) : 264-275 https://doi.org/10.1007/s11465-009-0060-7

RESEARCH ARTICLE

Integrated design of legged mechatronic system

Chin-Yin CHEN¹(

), I-Ming CHEN², Chi-Cheng CHENG¹

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

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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.

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

Corresponding Author(s): CHEN Chin-Yin,Email:michen@ntu.edu.sg

Issue Date: 05 September 2009

Cite this article:

Chin-Yin CHEN,I-Ming CHEN,Chi-Cheng CHENG. Integrated design of legged mechatronic system[J]. Front Mech Eng Chin, 2009, 4(3): 264-275.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-009-0060-7
https://academic.hep.com.cn/fme/EN/Y2009/V4/I3/264

Fig.1 Skills for MT system design

Fig.2 Graphical model-based implementation: flow and representative tools

Fig.3 Ideal foot trajectory

Fig.4 Symmetrical coupler curves. (a) When input link at 0°; (b) when input link at 180°

Fig.5 Symmetrical profiles. (a) Eight type profiles; (b) two reversal points; (c) two intersection points; (d) curve with long stride; (e) curve with large height

Fig.6 Traditional pantograph

Fig.7 Four-bar linkage with pantograph. (a) Embedded type (six-bar); (b) external type (eight-bar)

Tab.1 Design specifications

Tab.2 Integrated design results

Fig.8 Gait profile. (a) Embedded (with skew angle); (b) end effect

Fig.9 Dynamic model of linkage for a leg system

Fig.10 Cascade servo controller of a walking machine

Fig.11 Integrated design of MT system. (a) DTC method; (b) DFC approach

Fig.12 Graphical model translation step

Fig.13 Control torque for DTC method

Fig.14 Control torque for DFC method

Fig.15 Add-in modules for I-8438 in Simulink

Fig.16 Results for experimentation and simulation

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