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Optimal design of harmonic drive servo
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0002-7550-3134
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2013 (English)In: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, IEEE , 2013, 1579-1584 p.Conference paper (Refereed)
Abstract [en]

Design of modern mechatronic systems can be an overwhelming task. The underlying difficulty lies in that several different engineering domains are combined in one product, creating integration issues. Commonly used design methodologies are based on optimizing the different domains separately; hence creating a sub optimized final system. A cornerstone in many modern products is the mechatronic servo system which needs to be able to accurately control motion while still conforming to ever increasing demands on important factors such as cost, size and weight. This paper further builds upon a design methodology developed by the authors by adding design models for harmonic drives. The design methodology is capable of supporting the designer in developing mechatronic products by giving him/her a time efficient method to early on in the design process evaluate concepts. The new harmonic drive models are applied to a design case featuring a haptic steering interface for a steer-by-wire vehicle. It is concluded that the harmonic drive models are simple; yet accurate enough for the type of early design decisions they are to be used for.

Place, publisher, year, edition, pages
IEEE , 2013. 1579-1584 p.
Keyword [en]
Early design decisions, Engineering domains, Integration issues, Mechatronic products, Mechatronic servo systems, Mechatronic systems, Steer-by-wire vehicles, Time-efficient methods
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-133284DOI: 10.1109/AIM.2013.6584321ISI: 000328705300263ScopusID: 2-s2.0-84883672016ISBN: 978-146735319-9OAI: diva2:661000
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013; Wollongong, NSW; Australia; 9 July 2013 through 12 July 2013

QC 20131031

Available from: 2013-10-31 Created: 2013-10-29 Last updated: 2015-01-14Bibliographically approved
In thesis
1. A tool for holistic optimization of mechatronic design concepts
Open this publication in new window or tab >>A tool for holistic optimization of mechatronic design concepts
2015 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Designing mechatronic systems is challenging. Even so, mechatronicproducts are regarded as one of the most important means in order toinnovate in many large industries, e.g. automobile and aerospace. Theinherent difficulty lies in the multiple engineering domains involved and howthese are treated during the development process. A holistic approach, whichtreats these domains concurrently, is needed in order to find hidden synergiesbetween domains and in the end find an optimal product design based ongiven requirements.

Traditional product development methodologies, even ones with amechatronic design focus, rely on treating the individual domains separatelyand only integrating them at a point in time rather far into the detailed designphase of the development process. In addition, in order to solve problems thatarise in later design stages, the design engineers need to backtrack to earlierstages and in the worst case repeat substantial parts of the work. This is bothtime and cost inefficient.

This dissertation summarizes and extends previously published research bythe author about a novel mechatronic design methodology and a supportingsoftware tool. The goal of the design methodology is to enable design of betterproducts, in terms of e.g. development cost, size, and sustainability, by findingsynergies and reducing backtracking through better analysis of systemconcepts. The methodology relies on using an optimizer to efficientlydetermine the potential of a system concept, described by combining a numberof component models, e.g. motors, transmissions, and structural ones, from acomponent library and specifying their parameters.

A number of design cases have been evaluated, some of which are presentedin this dissertation, including both one where a physical prototype is built, anda few virtual ones. These design cases have been instrumental in evaluating themethodology as well as the software tool.

It is concluded that the design methodology is able to properly evaluate aconcept against competing concepts, and that it is a useful addition to existingmethodologies. However, as always, a number of improvements are possible,some of which are presented in a concluding section.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2015. xix, 71 p.
TRITA-MMK, ISSN 1400-1179 ; 2015:01
Mechatronics, Design methodology, Conceptual design, Optimization, Modeling, Integrated design
National Category
Mechanical Engineering
Research subject
Machine Design
urn:nbn:se:kth:diva-158886 (URN)978-91-7595-418-9 (ISBN)
Public defence
2015-01-30, Gladan, Brinellvägen 85, KTH, Stockholm, 13:00 (English)
Swedish Foundation for Strategic Research

QC 20150114

Available from: 2015-01-14 Created: 2015-01-13 Last updated: 2015-01-14Bibliographically approved

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