This thesis discusses a practical approach to the concurrent analysis and synthesis of
reconfigurable robot manipulators based on the alternative design methodology of Linguistic Mechatronics (LM) as well as the utilization of a modular Robotic Hardware-In-the-Loop Simulation (RHILS) platform. Linguistic Mechatronics is a systematic design methodology for mechatronic systems, which formalizes subjective notions and simplifies the optimization process, in the hope that numerous naturally different design variables can be considered
concurrently. The methodology redefines the ultimate goal of design based on the qualitative notions of wish and must satisfactions. The underlying concepts of LM are investigated through a simulation case study. In addition, the RHILS platform involving physical joint modules and a control unit, which takes into account various physical phenomena and reduces the simulation complexities, is employed to the design architecture. Ultimately, the new approach is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/17156 |
| Date | 24 February 2009 |
| Creators | Chhabra, Robin |
| Contributors | Emami, Mohammad Reza |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
| Format | 3420586 bytes, application/pdf |
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