Plant-limited co-design of an energy-efficient counterbalanced robotic manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Modifying the design of an existing system to meet the needs of a new task is a common activity in mechatronic system development. Often engineers seek to meet requirements for the new task via control design changes alone, but in many cases new requirements are impossible to meet using control design only; physical system design modifications must be considered. Plant- Limited Co-Design (PLCD) is a design methodology for meeting new requirements at minimum cost through limited physical system (plant) design changes in concert with control system redesign. The most influential plant changes are identified to narrow the set of candidate plant changes. PLCD provides quantitative evidence to support strategic plant design modification decisions, including tradeoff analyses of redesign cost and requirement violation. In this article the design of a counterbalanced robotic manipulator is used to illustrate successful PLCD application. A baseline system design is obtained that exploits synergy between manipulator passive dynamics and control to minimize energy consumption for a specific pick-And-place task. The baseline design cannot meet requirements for a second pickand- place task through control design changes alone. A limited set of plant design changes is identified using sensitivity analysis, and the PLCD result meets the new requirements at a cost significantly less than complete system redesign.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages847-856
Number of pages10
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume3

Other

OtherASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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