Computer-aided integrated design for machines with varying dynamics

This paper discusses the integrated design of mechatronic systems with varying dynamics, such as serial and parallel machine tools. This characteristic affects the machine stability and performance. A computer-aided integrated design methodology is proposed and validated on a pick-and-place robot. It consists of two main steps: (i) the derivation of reduced models from a flexible multibody model and (ii) the systematic robust control design. Eventually, the integrated design of the system, considering both structural and control parameters, can be performed. (C) 2009 Elsevier Ltd. All rights reserved.