engleski

Mechatronic Design and Control of Rotay Fexible Joint

The model of rotational mechanical system is laboratory model intended to emulate a flexible joint on a robot or spacecract and is also useful in the study of vibration analysis and resonance. This system is similar in nature to the control problems encountered in large gear robot joints where flexibility is exibited in robot gearbox. The aim of this paper is to design such mechatronic system with considerable elasticity for educational purposes, using computer aided design (CAD).Control algorithm is proposed for designed mechanical system in order to reduce the efects of flexibility.

Mechatronic design; Flexible Joint; Linear quadratic regulator

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