OPTIMAL DESIGN OF A STEPPER-DRIVEN PLANAR LINKAGE USING ENTROPY METHODS

Authors

  • J. C. Musto Mechanical Engineering Department, Milwaukee School of Engineering, 1025 N. Broadway, Milwaukee, WI 53202-3109, USA

Abstract

Stepper motors can be used to provide open-loop motion control in mechanisms. Unlike servo controlled mechanisms, however, the rotational drive input error cannot be resolved below the step error in the motor. Therefore, there is a fixed level of rotational position error that must be accepted in stepper driven mechanisms, and this rotational position error will inevitably propagate to kinematic position error in the mechanism. In this paper, the direct linearization method will be used to derive a model for kinematic position error based on uncertainty in the rotational input angle of a mechanism. Using this model, a method of constrained optimization to design a mechanism to minimize the effect of uncertain input conditions on kinematic position will be presented. The method is based on entropy minimization techniques that have been applied in a variety of robotic system applications. The method will be demonstrated in a case study, and will be shown to optimize the positioning reliability of a mechanism under input angle errors. The method will be shown to accurately predict drive error propagation, through comparison to Monte Carlo simulation. When coupled with entropy-based system reliability optimization methods, optimal mechansims can be synthesized in response to various positioning constraints.

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Published

2014-06-15

How to Cite

Musto, J. C. (2014). OPTIMAL DESIGN OF A STEPPER-DRIVEN PLANAR LINKAGE USING ENTROPY METHODS. Journal of Mechanical Engineering and Technology (JMET), 6(1), 1–16. Retrieved from https://jmet.utem.edu.my/jmet/article/view/321

Issue

Vol. 6 No. 1

Section

Others

License

JMET Copyright Principles
 
JMET seeks to retain copyright of the articles it publishes, without the authors giving up their right to use their own material.

Originality

The manuscript is neither been published before, nor is it under consideration for publication in any other journals. It contains no matter that is scandalous, obscene, libelous or otherwise contrary to law.

Terms of Acceptance 

When the article is accepted for publication, the authors shall hereby agree to transfer to the Journal of Mechanical Engineering and Technology, all rights, including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

 All proprietary right other than copyright, such as patent rights.

  1. The right to make further copies of all or part of the published article for my/our use in classroom teaching.
  2. The right to reuse all or part of this material in a compilation of my/our own works or in a textbook of which I/we am/are the author(s).
  3. The right to make copies of the published work for internal distribution within the institution that employs me/us.

The authors agree that copies made under these circumstances will continue to carry the copyright notice that appeared in the original published work. The authors agree to inform any co-authors, if any, of the above terms. The authors certify that they have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and they agree to supply such written permission(s) to Journal of Mechanical Engineering and Technology upon request.

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Dispatcher.dispatch(Object:Request) % line  281, file: PKPApplication.inc.php
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