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Mechatronics by ana...
Mechatronics by analogy and application to legged locomotion
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- Ragusila, Victor (författare)
- Institute for Aerospace Studies, University of Toronto, Toronto, Canada
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- Emami, M. Reza (författare)
- Luleå tekniska universitet,Rymdteknik,Institute for Aerospace Studies, University of Toronto, Toronto, Canada
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(creator_code:org_t)
- Elsevier BV, 2016
- 2016
- Engelska.
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Ingår i: Mechatronics (Oxford). - : Elsevier BV. - 0957-4158 .- 1873-4006. ; 35, s. 173-191
- Relaterad länk:
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https://tspace.libra...
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visa fler...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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visa färre...
Abstract
Ämnesord
Stäng
- A new design methodology for mechatronic systems, dubbed as Mechatronics by Analogy (MbA), is introduced. It argues that by establishing a similarity relation between a complex system and a number of simpler models it is possible to design the former using the analysis and synthesis means developed for the latter. The methodology provides a framework for concurrent engineering of complex systems while maintaining the transparency of the system behavior through making formal analogies between the system and those with more tractable dynamics. The application of the MbA methodology to the design of a monopod robot leg, called the Linkage Leg, is also presented. A series of simulations show that the dynamic behavior of the Linkage Leg is similar to that of a combination of a double pendulum and a spring-loaded inverted pendulum, based on which the system kinematic, dynamic, and control parameters can be designed concurrently.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Onboard Space Systems
- Rymdtekniska system
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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