Holistic system modeling in mechatronics |
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Authors: | Robin Chhabra M Reza Emami |
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Affiliation: | Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario, Canada M3H 5T6 |
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Abstract: | This paper outlines an alternative modeling scheme for mechatronic systems, as a basis for their concurrent design. The approach divides a mechatronic system into three generic subsystems, namely generalized executive, sensory and control, and links them together utilizing a combination of bond graphs and block diagrams. It considers the underlying principles of a multidisciplinary system, and studies the flow of energy and information throughout its different constituents. The first and second laws of thermodynamics are reformulated for mechatronic systems, and as a result three holistic design criteria, namely energy,entropy and agility, are defined. These criteria are formulated using the bond graph representation of a mechatronic system. As a case study, the three criteria are employed separately for concurrent design of a five degree-of-freedom industrial robot manipulator. |
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Keywords: | Bond graphs Concurrent design Holistic design criteria Mechatronic system modeling Mechatronics Multidisciplinary system design |
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