Robust integrated design for dynamic systems in engineering design

In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneously design the links of a five revolute two degree of freedom parallel robot and the gains of its control system such that the position error and the manipulability measure are as insensible as possible to variations at the end-effector's loads. Simulation results show the effectiveness of the proposed methodology compared with a non-robust integrated design.