Holistic Design: Optimizing Mechatronic Systems Using Multi Objective Optimization

Abstract

This thesis aims to present an integrated approach to mechatronic systems design using heuristic optimization techniques. This integrated approach will consider the kinematics of the system, the dynamics, and the control simultaneously. The design methodology will be applied on a four-bar mechanism driven by a DC motor. First, we will present the classical design approach where we optimize the geometry of the mechanism to generate a given path. Then, this geometry is used to solve the dynamic problem where the characteristics of the motor and the mechanism inertia are considered. Afterwards, based on the designed system, the control system will be optimized. This sequential approach of design is not optimal due to the fact that the geometry is fixed when designing the dynamics and the plant is fixed when designing the controller. This led us to propose a holistic design approach where the kinematics, dynamics, motor selection, and control are considered simultaneously. The results from the holistic design approach are compared with the sequential approach to show the effectiveness of the proposed methodology.