Resumo

CRUZ VILLAR, Carlos Alberto; ALVAREZ GALLEGOS, Jaime  e  VILLARREAL CERVANTES, Miguel Gabriel. Task Based Mechatronic System Design using Differential Evolution Strategies. Comp. y Sist. [online]. 2009, vol.12, n.4, pp.381-396. ISSN 2007-9737.

A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this approach which integrates in a simultaneous way both the structure design parameters of a parallel robot and the PID controller gains in order to improve the position errors and the robot dexterity for executing a specific task. The TBMSDA considers the dynamic system as an equality constraint into the optimization problem. Through the TBMSDA, an optimal combination of the structure and PID controller gains for a planar five-bar parallel robot is obtained. Simulation results show the effectiveness of this design approach.

Palavras-chave : Mechatronic design; Task based design; Evolutionary algorithms; System optimization; Parallel robot.

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