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Research Papers

Integrated Structural and Controller Optimization in Dynamic Mechatronic Systems

[+] Author and Article Information
Albert Albers

Institute of Product Engineering Karlsruhe (IPEK), Karlsruhe Institute of Technology (KIT), 76131 Karlsruhe, Germanyalbers@ipek.uni-karlsruhe.de

Jens Ottnad

Institute of Product Engineering Karlsruhe (IPEK), Karlsruhe Institute of Technology (KIT), 76131 Karlsruhe, Germanyottnad@ipek.uni-karlsruhe.de

J. Mech. Des 132(4), 041008 (Apr 20, 2010) (8 pages) doi:10.1115/1.4001380 History: Received September 25, 2009; Revised February 27, 2010; Published April 20, 2010; Online April 20, 2010

In order to take into account the interaction between the part, dynamic system, control system, and changing mechanical behavior with all its consequences for the optimization process, a simulation of the complete mechatronic system is integrated into the optimization process within the research work presented in this paper. A hybrid multibody system (MBS) simulation, that is a MBS containing flexible bodies, in conjunction with a cosimulation of the control system represented by tools of the computer aided control engineering, is integrated into the optimization process. By an inner optimization loop the controller parameters are adopted new in each of the iterations of the topology optimization in order to provide realistic load cases. The benefits will be illustrated by an example in conjunction with the humanoid robot ARMAR III of the Collaborative Research Centre 588 “Humanoid Robots-Learning and Cooperating Multimodal Robots” in Karlsruhe Germany. It will be shown how the new approach for the optimization of parts “within” their surrounding mechatronic system allows an efficient optimization of such structures.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

Controlled MBS extended topology optimization

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Figure 2

Determination of loads based on strain energy

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Figure 3

Automated process of extended topology optimization

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Figure 4

FE model of the design space

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Figure 5

Setup with interfaces to the control system

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Figure 6

Step function and system response

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Figure 7

Results of traditional (lower), extended (middle) topology optimization and in conjunction with the controller parameter optimization (upper)

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Figure 8

Comparison of strain energy for the design proposals during the dynamic movement

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Figure 9

Step function and system response

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Figure 10

Results (II) of traditional (lower), extended (middle) topology optimization and in conjunction with the controller parameter optimization (upper)

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Figure 11

Comparison of strain energy for the design proposals (II) during the dynamic movement

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