Design and control of cross coupled mechanisms driven by AC brushless servomotors
| aut.relation.endpage | 176 | |
| aut.relation.startpage | 165 | |
| aut.researcher | Connor, Andrew Miles | |
| dc.contributor.author | Connor, AM | |
| dc.contributor.editor | Burrows, CR | |
| dc.contributor.editor | Edge, KA | |
| dc.date.accessioned | 2014-04-10T04:22:06Z | |
| dc.date.available | 2014-04-10T04:22:06Z | |
| dc.date.copyright | 1998 | |
| dc.date.issued | 1998 | |
| dc.description.abstract | This paper presents an overview of a design methodology for the optimal synthesis of hybrid mechanisms. Hybrid mechanisms have been defined as multi-degree of freedom systems where the input motions are supplied by different motor types. In this work a five bar mechanism is designed for a given task under the constraint that one input axis rotates with constant velocity whilst the other input can exhibit any motion requirement. A machine of this type is classified as being cross-coupled due to the mechanical linkage between the input axes. Cross-coupling implies that the input motion on one axis effects the position of the other input axis. This can lead to either opposition to, or accentuation of the control system input. Such a system as this is difficult to control due to the compensation for this on each axis leading to further disturbance. Results are presented for a real machine operating in this way and the actual output of the machine is compared to the desired input of the machine. | |
| dc.identifier.citation | Proceedings of Power Transmission and Motion Control '98, Bath, UK, pp.165 - 176 | |
| dc.identifier.uri | https://hdl.handle.net/10292/7072 | |
| dc.publisher | Professional Engineering Publishing | |
| dc.rights | NOTICE: this is the author’s version of a work that was accepted for publication. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in (see Citation). The original publication is available at (see Publisher's Version). | |
| dc.rights.accessrights | OpenAccess | |
| dc.title | Design and control of cross coupled mechanisms driven by AC brushless servomotors | |
| dc.type | Conference Contribution | |
| pubs.elements-id | 42902 | |
| pubs.organisational-data | /AUT | |
| pubs.organisational-data | /AUT/Design & Creative Technologies | |
| pubs.organisational-data | /AUT/Design & Creative Technologies/Interdisplinary Unit |