Mechatronic design concept and its application to pick-and-place robotic systems

Abstract

Mechatronic design can be defined as the integrated design of mechanical systems and their embedded control system. Two main challenges in designing mechatronic systems are treated in this manuscript: challenges in modeling mechatronic systems and challenges in optimizing mechatronic systems. Modeling methodologies, model-reduction strategies, control system evaluation have been discussed in order to overcome some of the challenges regarding modeling issues. Regarding the optimization issues, two methodologies have been proposed: the nested and the direct strategies. In this manuscript, the design of a mixed kinematic pick-and-place robot demonstrates the main challenges regarding mechatronic design. It can be concluded that, for this case study, tighter performance requirements and robustness have been achieved using more advanced control strategies, such as the ones derived using model-based control design. These control strategies can only be considered when using the nested design strategy. In both strategies, design tradeoffs can be evaluated qualitatively and quantitatively aiding the designer during mechatronic design of robotic systems.