Integrated design of mechanical structure and control algorithm for a programmable four-bar linkage

As the demand increases for machines of high accuracy, high speed, and high stiffness, programmable closed-loop linkages emerge in the development of modern machinery. A mechatronic design methodology is proposed for the integrated design of mechanical structure and control algorithm for a programmable closed-loop mechanism system. This design methodology suggests a negative mass-redistribution scheme, which follows the principle of a shaking force/shaking moment balancing scheme, for the modification of an existing four-bar mechanism, with the aim to obtain a simple system dynamic model and, thus, to facilitate controller design. In consequence, motion tracking performance and vibration behavior of the linkage system are significantly improved by simply applying a conventional PD control algorithm. The effectiveness of the proposed methodology has been verified by simulation studies.