%0 Journal Article
%A Da Silva, Maíra M.
%A De Oliveira, Leopoldo P.R.
%A Brüls, Olivier
%A Michelin, Micaël
%A Baradat, Cédric
%A Tempier, Olivier
%A De Caigny, Jan
%A Swevers, Jan
%A Desmet, Wim
%A Van Brussel, Hendrik
%T Integrating structural and input design of a 2-DOF high-speed parallel manipulator: 												A flexible model-based approach
%D 2010
%@ 0094-114X
%U https://hdl.handle.net/11556/4241
%X This paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.
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