Simulation Based Methodology for Selection and Integration of Real Time Control Electronics into Complex Dynamic Mechanical Systems

Considering that innovations in modern mechanical products are increasingly of mechatronic nature, selection and integration of control electronics into mechanical systems is becoming an area of great interest for mechanical engineers. The transformation from a mechanical design to mechatronic realization can be very daunting and costly if not managed systematically. Some of the sources of difficulty are: lack of universal standardization of components and their interfaces, too many competing products in market, too many parameters involved and their complex interdependence, confusingly diverse terminologies in product specifications, the need of specialist as well as multi-disciplinary knowledge side by side, etc. The selection and/or design process of mechatronic system can easily get complex when its components have to be put together from diverse vendors with different development software platforms. In some cases, the system could be built completely from commercial off-the-shelf components, while in other cases, some components may have to be designed and built-from-scratch and then integrated to operate smoothly into the system (i.e. make-or-buy decision). To avoid painful interfacing problems at later stage, mechatronic products have to be chosen carefully and the implementation planned with clear awareness. This contribution will first highlight and discuss the key parameters involved in the selection and integration of real-time control into complex mechanical systems and then propose simulation based methodical approach to tackle the problem. This simulation assisted approach will be demonstrated on an example of a parallel mechanism based biped walking robot Centaurob [1]. The method can greatly help in early configuration, specification, and testing of the system and/or its component parts. It can also lead to an early identification and optimization of the implementation methods and sequences