The Concurrent Design Between Configuration And Control Of The Planar Mechasim

Mechatronics system is used widely in modern industry. It can facilitate the development of automation and influence every field Within the Mechatrocis. The design methodology determines the quality of products. How to improve the design methodology to better the quality of products is concerned intensively.In the past, mechanical part and control part are divided sequently, firstly the mechanical part, then the controller. Sometimes the control design is restricted by mechanical design. Even the advanced control system cannot eliminate the problems because of the bad mechanical design, such as vibration and low precision. The research about how to combine mechanical design and control design is meaningful in practice.This thesis consists of three parts. Firstly, it theoretically discusses the concurrent design between mechanical and control system, showing its significance. And we can improve the mechanical design such as morphology and mass-distribution to simplify the control design reduce the vibration of mechatronics system and improve the performance. Secondly, four-bar linkages driven by motor and the robot hands are proposed to analyze the feasibility and necessity of concurrent design. The evolution of robot hands partly shows relationship between the degree of freedom and control. In the design of four-bar linkages driven by motor, the mass-distribution is used to counteract the fluctuation of system and improve the performance. At the same time, this paper applies an adaptive neuron PID controller for nonlinear time-variable system. It efficiently lessens the fluctuation, accompanying with mass-redistribution. At last, this paper simulates the dynamic performance of four-bar linkages driven by motor under the help of MATLAB software package to prove the conclusion mentioned above.