Integrated design and control of a closed-chain mechanism

Mechatronics is a synergetic combination of mechanical engineering, electronics, control and system thinking in the design of products and manufacturing processes. In this paper, an integrated design framework, exploiting the intricate interactions between the mechanical structure and its control algorithm, is applied for the design and control of a closed-chain mechanism. By using this design framework, the internal vibration of the mechanism can be mitigated greatly, the controller design is also simplified, and satisfactory real time response can also be achieved. The effectiveness of this design approach is demonstrated via a simulation study on the set-point control of the closed-chain mechanism.