Modelling and Simulation of Linear Actuators in Mechatronic Systems

摘要

A large group of mechatronic systems currently consists of parallel robots, which are largely used in various applications due to their advantages over conventional serial mechanisms: high rigidity, high load capacity, high velocity and high precision. The synthesis of a mechatronic system, hereby represented by the parallel robots, envisages a balance between modelling and simulation and experiment. The structural modelling of the parallel mechanism within these robots is an essential stage of the synthesis and uses the concept of the kinematic connections. The paper outlines how a linear actuator materializes the KB(-1) and KC connections. The modelling, the simulation and the experimental analysis of a linear actuator are developed. The authors explain that using the theory of kinematic connections has the advantage of a fast and simple implementation.