Integrated Conceptual Mechatronic Design of a Delta Robot
In this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design methodology. A fully integrated conceptual design, clarifying the recurrence of the conceptual design process using black-box/white-box analysis, is presented using the Model Based Systems Engineering (...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/3/186 |
| _version_ | 1827628406577037312 |
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| author | Rogelio de Jesús Portillo-Vélez Iván Andrés Burgos-Castro José Alejandro Vásquez-Santacruz Luis Felipe Marín-Urías |
| author_facet | Rogelio de Jesús Portillo-Vélez Iván Andrés Burgos-Castro José Alejandro Vásquez-Santacruz Luis Felipe Marín-Urías |
| author_sort | Rogelio de Jesús Portillo-Vélez |
| collection | DOAJ |
| description | In this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design methodology. A fully integrated conceptual design, clarifying the recurrence of the conceptual design process using black-box/white-box analysis, is presented using the Model Based Systems Engineering (MBSE) paradigm and the SysML language as the formal modeling tool. Multiple designs proposals are then evaluated by the non-linear Choquet integral in order to choose the most appropriate according to a multicriteria requirement. For a preliminary conceptual design, structural parameters for the Delta robot are determined by defining and solving a nonlinear constrained optimization problem, which considers the kinematic model of the robot maximizing its workspace. Both the decision making and the optimization problem are integrated and automated into a common software framework for the design process, by using a standard genetic algorithm and Monte Carlo method to set the optimized conceptual design to be rendered in Computer Aided Design (CAD) software and in a physical prototype, satisfying the technical specifications. |
| first_indexed | 2024-03-09T13:33:10Z |
| format | Article |
| id | doaj.art-656393110a98460fb37e70ae8b850582 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T13:33:10Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-656393110a98460fb37e70ae8b8505822023-11-30T21:16:02ZengMDPI AGMachines2075-17022022-03-0110318610.3390/machines10030186Integrated Conceptual Mechatronic Design of a Delta RobotRogelio de Jesús Portillo-Vélez0Iván Andrés Burgos-Castro1José Alejandro Vásquez-Santacruz2Luis Felipe Marín-Urías3Facultad de Ingeniería Eléctrica y Electrónica, Universidad Veracruzana, Boca del Río 94294, Veracruz, MexicoFacultad de Ingeniería Eléctrica y Electrónica, Universidad Veracruzana, Boca del Río 94294, Veracruz, MexicoFacultad de Ingeniería Eléctrica y Electrónica, Universidad Veracruzana, Boca del Río 94294, Veracruz, MexicoFacultad de Ingeniería Eléctrica y Electrónica, Universidad Veracruzana, Boca del Río 94294, Veracruz, MexicoIn this paper, a conceptual design of a Delta robot is developed by means of a mechatronic design methodology. A fully integrated conceptual design, clarifying the recurrence of the conceptual design process using black-box/white-box analysis, is presented using the Model Based Systems Engineering (MBSE) paradigm and the SysML language as the formal modeling tool. Multiple designs proposals are then evaluated by the non-linear Choquet integral in order to choose the most appropriate according to a multicriteria requirement. For a preliminary conceptual design, structural parameters for the Delta robot are determined by defining and solving a nonlinear constrained optimization problem, which considers the kinematic model of the robot maximizing its workspace. Both the decision making and the optimization problem are integrated and automated into a common software framework for the design process, by using a standard genetic algorithm and Monte Carlo method to set the optimized conceptual design to be rendered in Computer Aided Design (CAD) software and in a physical prototype, satisfying the technical specifications.https://www.mdpi.com/2075-1702/10/3/186mechatronic designMBSEChoquet integralDelta robotconceptual design |
| spellingShingle | Rogelio de Jesús Portillo-Vélez Iván Andrés Burgos-Castro José Alejandro Vásquez-Santacruz Luis Felipe Marín-Urías Integrated Conceptual Mechatronic Design of a Delta Robot Machines mechatronic design MBSE Choquet integral Delta robot conceptual design |
| title | Integrated Conceptual Mechatronic Design of a Delta Robot |
| title_full | Integrated Conceptual Mechatronic Design of a Delta Robot |
| title_fullStr | Integrated Conceptual Mechatronic Design of a Delta Robot |
| title_full_unstemmed | Integrated Conceptual Mechatronic Design of a Delta Robot |
| title_short | Integrated Conceptual Mechatronic Design of a Delta Robot |
| title_sort | integrated conceptual mechatronic design of a delta robot |
| topic | mechatronic design MBSE Choquet integral Delta robot conceptual design |
| url | https://www.mdpi.com/2075-1702/10/3/186 |
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