Article (Scientific journals)
Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach
da Silva, M. M.; de Oliveira, L. P. R.; Bruls, Olivier et al.
2010In Mechanism and Machine Theory, 45, p. 1509-1519
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Keywords :
Motion planning; Feedforward signals; Flexible multibody systems; Parallel manipulators
Abstract :
[en] This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.
Disciplines :
Electrical & electronics engineering
Mechanical engineering
Author, co-author :
da Silva, M. M.;  University of Sao Paulo > Department of Mechanical Engineering
de Oliveira, L. P. R.;  University of Sao Paulo > Department of Mechanical Engineering
Bruls, Olivier  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Michelin, M.;  Fatronik France
Baradat, C.;  Fatronik France
Tempier, O.;  Université Montpellier 2 > LIRMM
De Caigny, J.;  Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering
Swevers, J.;  Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering
Desmet, W.;  Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering
Van Brussel, H.;  Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering
Language :
English
Title :
Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach
Publication date :
2010
Journal title :
Mechanism and Machine Theory
ISSN :
0094-114X
Publisher :
Pergamon Press - An Imprint of Elsevier Science
Volume :
45
Pages :
1509-1519
Peer reviewed :
Peer Reviewed verified by ORBi
Name of the research project :
Project NEXT; Research Council Scholarships program
Funders :
UE - Union Européenne [BE]
CAPES - Coordenação de Aperfeicoamento de Pessoal de Nível Superior [BR]
KU Leuven - Katholieke Universiteit Leuven [BE]
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since 26 November 2010

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