IMPEDANCE APPROACH FOR CONCEPTUAL DESIGN OF MECHATRONIC SYSTEMS

 

Kostadin KOSTADINOV

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 Abstract: Conceptual design approach for mechatronic systems (MS) with dynamic interaction with technological environment (TE) has been presented in this paper. It is based on the exploitation of impedance control method with its 3 known approaches to perform the reference task function. By analyzing the dynamic interaction of MS with TE ideas and design approach are generated to design either some subsystems– drive, mechanic, sensor, control and information or the whole MS. This allows the desired quality parameters and functionality to be achieved. Applying this approach some MS have been designed, such as positioning robot for feeding operations, MS for monomolecular films deposition, Robot for micro & nano manipulations, etc. Experimental results obtained from those typical examples illustrate the effectiveness of the proposed conceptual design approach for MS dynamically interacting with TE.

 

Key words: impedance approach, conceptual design, mechatronic system, dynamic interaction.