An integrated structure/control design of mechatronics systems

Modern industries, e.g., semiconductor packaging, imposes increasingly stringent requirements on equipments with very high acceleration and high precision. Traditional design is approaching its physical limitations. The integrated design method is proposed as an preferable technique of the traditional one. In this paper, a general framework of the integrated design method is presented. The dynamic model for multi-link planar manipulators is derived by the finite element method. The PD control strategy is applied in the closed-loop system. The control parameters and structural parameters are optimized simultaneously by solving the integrated design problem. The controlled random search (CRS) technique, which is a simple and flexible global optimization technique, is used to solve the optimal design problem. A simulation shows the integrated design method gives improved system performances.