Design of mechatronic systems with configuration-dependent dynamics: simulation and optimization

An optimal design in mechatronics can only be accomplished if the interaction between the control system and the structural dynamics is considered in an early design stage. Moreover, the dynamic behavior of a mechatronic system may be largely dependent on the spatial configuration. This inevitably affects the performance and the stability of the control system. This paper presents a methodology to build a model able to capture the configuration-dependent dynamics and its embedded control system using co-simulation. Since such a model is available, a concurrent design, considering structural and control parameters, can be performed. This methodology is applied to a pick-and-place assembly robot. Using the proposed approach, the mechatronic system can be evaluated not only in discrete positions but also in continuous operation. Finally, two control strategies are derived using time-domain metrics to evaluate continuous operation.