TY - GEN
T1 - A study on integrated design methodology
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
AU - Shi, Jinbo
AU - Lou, Yunjiang
AU - Zhang, Jianjun
AU - Li, Zexiang
PY - 2007
Y1 - 2007
N2 - As a preliminary study for a 4 degree of freedom wafer handling robot, an integrated design methodology for high-speed high precision single beam system is proposed in this paper. Strict mathematical modelling and identification processes of the actuating subsystem are performed. Parametric studies and experiments of step response of the system are conducted to investigate the influence of the interactions between control and mechanical parameters on the system, where the stiffness and inertia of the system is taken as the mechanical design variables. According to the analysis of the system performance, a multi-objective optimization problem together with nonlinear constraints is formulated. Two algorithms to solve such optimization problem, CRS (controlled random search) and SQP (Sequential Quadratic Programming), are programmed and the optimizing results respectively are compared and discussed. Some conclusions will be drawn at last.
AB - As a preliminary study for a 4 degree of freedom wafer handling robot, an integrated design methodology for high-speed high precision single beam system is proposed in this paper. Strict mathematical modelling and identification processes of the actuating subsystem are performed. Parametric studies and experiments of step response of the system are conducted to investigate the influence of the interactions between control and mechanical parameters on the system, where the stiffness and inertia of the system is taken as the mechanical design variables. According to the analysis of the system performance, a multi-objective optimization problem together with nonlinear constraints is formulated. Two algorithms to solve such optimization problem, CRS (controlled random search) and SQP (Sequential Quadratic Programming), are programmed and the optimizing results respectively are compared and discussed. Some conclusions will be drawn at last.
KW - Controlled random search
KW - Flexible beam
KW - Integrated design
KW - Multi-objective optimization
UR - https://www.scopus.com/pages/publications/37049017356
U2 - 10.1109/ICMA.2007.4303993
DO - 10.1109/ICMA.2007.4303993
M3 - 会议稿件
AN - SCOPUS:37049017356
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 2747
EP - 2752
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -