In this article, a formal mechatronic design of a biped robot is addressed. It is considered a model-based system engineering methodology since the continuous updating of information, from analysis and evolution of conceptual designs, demands a large volume of data. The definition of a biped robot comes from the need of a system to perform human-like walking as the problem to be solved. A specific robot configuration results from the analysis of conceptual solutions throughout SysML as the language for modeling the synergistic and automatic integration among engineering disciplines. The general design process is developed according to the well-known V-model for mechatronic systems design; however, a three-dimensional focus is proposed in order to address a variety of domains and their interaction along the design process. The detailed study of the solution is evaluated in order to optimize the joint torques and limbs shape from an anthropometric robot to achieve effective human-like motion. Although the mechatronic design is done for the overall biped robot system, this work is particularly focused on mechanical features as the most representative subsystem that incorporates genetic algorithm optimization based on a numerical Newton–Euler model merged with topology optimization tools to define final geometry of limbs with stiffness maximization.
This work deals with the analysis of the consensus problem for networks of agents constituted by single and double integrator systems. It is assumed that the communication among agents is affected by a constant time-delay. Previous and numerous analysis of the problem shows that the maximum communication time-delay that can be introduced to the network without affecting the consensus of the group of the agents depends on the considered topology. In this work, a control scheme that is based on the estimation of future states of the agents and that allows increasing the magnitude of a possible time-delay affecting the communication channels is proposed. How the proposed delay compensation strategy is independent of the network topology in the sense that the maximum allowable time-delay that could be supported by the network depends on a design parameter and not on the maximum eigenvalue of the corresponding Laplacian matrix is shown. It is formally proven that, under the proposed prediction scheme, the consensus of the group can be achieved by improving the maximum time-delay bounds previously reported in the literature. Numerical simulations show the effectiveness of the proposed solution.
In this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design methodology. A fully integrated conceptual design, clarifying the recurrence of the conceptual design process using black-box/white-box analysis, is presented using the Model Based Systems Engineering (MBSE) paradigm and the SysML language as the formal modeling tool. Multiple designs proposals are then evaluated by the non-linear Choquet integral in order to choose the most appropriate according to a multicriteria requirement. For a preliminary conceptual design, structural parameters for the Delta robot are determined by defining and solving a nonlinear constrained optimization problem, which considers the kinematic model of the robot maximizing its workspace. Both the decision making and the optimization problem are integrated and automated into a common software framework for the design process, by using a standard genetic algorithm and Monte Carlo method to set the optimized conceptual design to be rendered in Computer Aided Design (CAD) software and in a physical prototype, satisfying the technical specifications.
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