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Diseño mecatrónico de un mecanismo de dos grados de libertad con accionamientos lineales
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General information
Author Roldán, Constantino
Published  Universidad del País Vasco, Bilbao, Spain, 2011
Edition  
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ISBN
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Scientific publications
2000 and later
Images
 
Articulated quadrilateral
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Mechatronic approach scheme
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Traditional machines design approach
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Mechatronic design approach scheme
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Basic PID control scheme
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PD control with gravity compensation
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Feedforward control scheme
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Computed torque control scheme
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Model representation of the actuation system. First section
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Representation of the model of the actuation system. Section 2
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Actuation system model
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Equivalent inertial model
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Parts of the mechanism studied
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Assembly modes of the scissor mechanism
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Working modes of the scissor mechanism
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Selected working mode
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Workspace of the scissor mechanism
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Selected workspace
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Jointspace of the scissor mechanism
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General free-body diagram
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Free-body diagram of the bar 1
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Free-body diagram of the bar 2
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Generalized coordinates
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Force coefficient vs actuator position s1
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Force coefficients vs angle
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Spherical joint between bars
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Actuator and bar joint
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Actuation system and parts
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Spindle and its parts
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Control Hardware
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Amplitude relationship
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Actuator 1 force por each inclination
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Actuator force breakdown
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Actuator force breakdown Phi=30
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Actuator force breakdown phi=45
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Actuator force breakdown phi=60
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Actuator force breakdown phi=75
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Inertia force variation
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Gravitatory force variation
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Coriolis force variation
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Gravitatory and inertial force ratio for each initial position
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Force variation from Phi=15 to Phi= 75
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Force breakdown for different frequencies
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Actuator force vs the angle
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Force breakdown vs the angle
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Reference torque percentage for an initial angle phi=19
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Reference torque % for an initial angle phi=30
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Reference torque % for an initial angle phi=45
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Reference torque % for an initial angle phi=60
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Reference torque % for an initial angle phi=75
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Mechatronic 2 mass model of the actuation and mechanism system
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Gravitatory force variation with the actuator s1 position
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Mass 1 force balance
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Mass 2 force balance
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Flexible 2 mass model of the actuation-mechanism system
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BODE diagram of the velocity loop
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Bode diagram of the velocity loop
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Bode diagram of the velocity loop
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Bode diagram of the velocity loop (phase)
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Bode diagram of the position loop.
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Bode diagram of the position loop
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Bode diagram of the position loop
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Bode diagram of the velocity loop with the mechanism decoupled
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Bode diagram of the velocity loop (magnitude)
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Diagram bode of the velocity loop (phase)
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Bode diagram of the position loop (magnitude)
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Bode diagram of the position loop (phase)
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One-joint control system
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Multy-joint computed control proposed
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Permanent links
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=24821009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_24821009.html
Data provider
UBCUniv. Basque C.  http://www.ehu.es/compmech/welcome/Home.html
Administrative information
Time of publication 2011

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