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Sensors 2017, 17(1), 118; doi:10.3390/s17010118

Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

1,2,* and 2
1
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
2
Department of Mechanical Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
*
Author to whom correspondence should be addressed.
Academic Editor: Simon X. Yang
Received: 22 September 2016 / Revised: 28 November 2016 / Accepted: 4 January 2017 / Published: 9 January 2017
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)
View Full-Text   |   Download PDF [5786 KB, uploaded 9 January 2017]   |  

Abstract

Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved through three different approaches, i.e., structure synthesis design approach, dynamic balancing approach, and adaptive control approach. The purpose of robotic mechanism structure synthesis design is to propose certain mechanism that has better kinematic and dynamic performance as compared to the old ones. For the dynamic balancing design approach, it is normally accomplished based on employing counterweights or counter-rotations. The potential issue is that more weight and inertia will be included in the system. Here, reactionless based on the reconfiguration concept is put forward, which can address the mentioned problem. With the mechanism reconfiguration, the control system needs to be adapted thereafter. One way to address control system adaptation is by applying the “divide and conquer” methodology. It entails modularizing the functionalities: breaking up the control functions into small functional modules, and from those modules assembling the control system according to the changing needs of the mechanism. View Full-Text
Keywords: decomposition and integration; robotic systems; synthesis design; dynamic balancing; control design decomposition and integration; robotic systems; synthesis design; dynamic balancing; control design
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Zhang, D.; Wei, B. Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches. Sensors 2017, 17, 118.

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