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Digital platform-based multi-domain virtual prototype simulation on a high-speed parallel manipulator

Published online by Cambridge University Press:  05 October 2011

Yang Zhiyong*
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
Feng Wenhao
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
Wu Jiang
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
Huang Tian
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
*Corresponding author. E-mail:


This paper presents how to build an all-digital co-simulation platform of a mechtronic system so as to reduce the burden and error of system modeling. In the construction of a platform, a driving system, including a motor, a pulse-width modulation (PWM) and a controller, is simulated using Matlab/Simulink. The behavior of the mechanism is analyzed using the ADAMS software. By the proper interface function for the real-time communication between two parts of the models, a virtual working environment is established. Finally, a proportional integral derivative (PID) controller verifies the validity of the digital platform.

Robotica , Volume 30 , Issue 5 , September 2012 , pp. 827 - 835
Copyright © Cambridge University Press 2011

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