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Design of Mechatronic Design of Mechatronic Systems using SAMTECH Systems using SAMTECH
software platformsoftware platform
Didier GRANVILLECMO, SAMTECH s.a.
Examples of mechanical systems Examples of mechanical systems simulated by SAMTECHsimulated by SAMTECH
2 Mechanical Design
4 Mechatronic Simulation
Optimal Mechatronic System
3 Control Design
1 Specifications
Mechatronic Design Functional Scheme Mechatronic Design Functional Scheme (Definition of Mechatronics for SAMTECH)(Definition of Mechatronics for SAMTECH)
Finite elements and S.E.
Flexible kinematical joints
Rigid kinematical joints,
Sensors and Actuators
Mechatronic Compiler using SAMCEF Mechatronic Compiler using SAMCEF Mecano and MATLAB SimulinkMecano and MATLAB Simulink
Digital Control
• CAD Geometry defined in SAMCEF Field or recovered from CAD through STEP exchange
• Super-Elements to manage large meshes
Y guides SAMCEF Mecano assembly
conditions (rigid bodies, rigid kinematical joints and flexible sliders) to connect moving flexible bodies
Machine Tool ModelMachine Tool Model(Agile transfer line, COMAU, MECOMAT)(Agile transfer line, COMAU, MECOMAT)
Machine Tool Mechanical elements Machine Tool Mechanical elements Transmission modelsTransmission models
ball screw
guideways & rack and pinion
linear motor
- rack : 선반 or ( 톱니바퀴의 ) 래크
- pinion : 톱니바퀴
MATLAB Simulink controller model
SAMCEF Mecano FEA model
Mechatronic Compiler applied to Mechatronic Compiler applied to Machine ToolMachine Tool
Position, Velocity, Acceleration, Force
Position Velocity, Acceleration
• CAD Geometry defined in SAMCEF Field or recovered from CAD through STEP exchange
Assembly conditions
Super-elements to manage large meshes
Machine Tool Model (3EX-R Rotor Milling Machine Tool Model (3EX-R Rotor Milling Machine, HOLROYD, MECOMAT)Machine, HOLROYD, MECOMAT)
• Linear motors implemented in the generic non linear force element of SAMCEF Mecano
• Digital controllers acting on axes modeled in MATLAB Simulink and integrated in SAMCEF Mecano
• Comparison between numerical results and experiments :
• Less than 8 % of error on the speed and the precision of execution
High Speed Machine (CETIM)High Speed Machine (CETIM)
Mechanical design using SAMCEF• Mecano : Time response of Mechanisms + Structure• Dynam : Modal analysis + Super-element creation• Asef : Linear static analysis• Repdyn : Harmonic response
Control design using MATLAB Simulink Integration of Mechanical design (mechanisms +
structure) and controller design : import of MATLAB Simulink controller inside SAMCEF Mecano
Optimization of parameterized mechatronic systems using BOSS quattro
Design of Mechatronic Systems using Design of Mechatronic Systems using SAMTECH software platformSAMTECH software platform
SAMTECH is developing an industrial integrated software environment for the analysis and the optimization of mechatronic systems
Mechatronic approach : the design of the mechanisms, the structure and of the control system is performed at the same time
First industrial application : Machine Tools Possible future applications to other mechanical
sectors (Aeronautics, Space, Defense, Automotive, Textile machines, Robotics, …)
Digital modeling of controllers at the moment Next step : analogical modeling of controllers
Conclusions and PerspectivesConclusions and Perspectives
