Topological Approach for Mechatronic Systems

Abstract

In this study, we propose a topological methodology for mechatronic systems which is much more focused on the mechanical part of the mechatronic system based on the work of Casner. The methodology starts with the optimization of the electronic and control models (control command). Then, a characterization is done to highlight the optimization constraints that may affect the mechanical model. Finally, the topological optimization of the mechanical model is done by taking into account the physical and functional constraints brought by the control-command part. A topological approach to mechanical systems integrating the constraints of the control-command part is proposed. We have applied this approach to a mobile robot "ELEGOO smart car" and we have made a comparison between the methodology of integrated mechanical systems and that of a simple mechanical system.