Mechanical Design Thinking of Control Architecture

  • Nestor Eduardo Nava Rodríguez


Modern research prevents interdisciplinary activities, in which experts of several fields work together in order to obtain a final solution with high performance characteristics. The main fields in robotics are control, electronics and mechanics. These areas are highly close and they must collaborate together in robotic projects deciding the most suitable solution of every sub-system for a successful operation as an integrate system. For example, a suitable mechanical design can simplify the requirements of control and electronics. This chapter deals with the importance of the mechanical design in the development of mechatronic devices as easy-operation systems. Low-cost robots are related to new emerging application areas and they can be also operated in a simpler way compared to the typical industrial robots. The synthesis process of mechanism that composed the robotic structures represents a key phase in the mechanical design of easy-operation prototypes. The main idea is to obtain dynamic systems in which their transfer functions do not present undesirable characteristics from the control point of view, for instance, all poles equal to zero or non linearity of inputs. For this goal, the mechanical designer should consider the recommendation from the control strategist during the mechanism synthesis. Similar, backlash, hysteresis, shafts offset and fiction are also undesirable mechanical characteristics for non complex control architecture. Some tips are reported in this chapter for a mechanical design in which these undesirable characteristics are reduced as much as possible.


Humanoid Robot Ball Bearing Kinematic Chain Revolute Joint Control Architecture 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London Limited  2011

Authors and Affiliations

  1. 1.Robotics LabCarlos III UniversityLeganés, MadridSpain

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