Mechatronic and Robotic Systems

In this research, we are extending our methods for multibody mechanical systems to multibody mechatronic systems. This research has been greatly facilitated by the use of graph-theoretic methods, which provides a single, consistent linear graph representation of a system containing analog and digital components from mechanical, electrical, hydraulic, and other physical domains.

To validate this theoretical research, two experimental robots have been developed:

• WatFlex : A free-floating flexible robotic manipulator
• Hexplorer : A six-legged walking robot

Selected Publications:

• C. Schmitke and J. McPhee, Using Linear Graph Theory and the Principle of Orthogonality to Model Multibody, Multi-Domain Systems, Adv. Eng. Infor., v.22, 147160, 2008.
• M. Peasgood, C. Clark, and J. McPhee, Complete and Scalable Multi-Robot Roadmap Coordination Planning, IEEE Trans. Robotics, v.24, 283-292, 2008.
• Y. He and J. McPhee, A Design Methodology for Mechatronic Vehicles: Application of MDO, Multibody Dynamics, and Genetic Algorithms, Veh. Sys. Dyn., 697-733, 2005.
• J.P. Hauschild, G. Heppler, and J. McPhee, Friction Compensation of Harmonic Drive Actuators, 6th International Conference on Dynamics and Control of Systems and Structures in Space, Liguria, Italy, July 2004, pp.683-692
  
• M. Scherrer and J. McPhee, Dynamic Modelling of Electromechanical Multibody Systems, Multibody System Dynamics, vol.9, no.1, 2003, pp.87-115.
  
• T. Geike and J. McPhee, Inverse Dynamic Analysis of Parallel Manipulators with Full Mobility, Mechanism and Machine Theory, vol.38, no.6, 2003, pp.549-562.
  
• L. Sass, J. McPhee, C. Schmitke, P. Fisette, and D. Grenier, A Comparison of Different Methods for Modelling Multibody Systems with Electrical Drives, Multibody System Dynamics, vol.12, no.3, 2004, pp.209-250.
  
• M. Scherrer and J. McPhee, Dynamic Modelling of Electromechanical Multibody Systems, to appear in Multibody System Dynamics, 2003.
  
• T. Geike and J. McPhee, Inverse Dynamic Analysis of Parallel Manipulators with Full Mobility, to appear in Mechanism and Machine Theory, 2003.
  
• C. Schmitke and J. McPhee, Effective use of Subsystem Models in Multibody and Mechatronic System Dynamics, submitted to International Journal of Computational Civil and Structural Engineering, 2002.
  
• T. Geike and J. McPhee, On the Automatic Generation of Inverse Dynamic Solutions for Parallel Manipulators, Proceedings of Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators , Quebec City, Canada, October 2002.
  
• M. Makatchev, J. McPhee, S.K. Tso, and S. Lang, Modelling, Control, and Interface for a Four-Wheel-Steering Mobile Robot, to appear in IEEE Transactions on Systems, Man, and Cybernetics, Part A, 2002.
  
• T. Geike and J. McPhee, Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom, Proceedings of 14th CISM-IFToMM Symposium on Robotics, Udine, Italy, July 2002, pp.49-58.
  
• P. Shi, J. McPhee, and G. Heppler, Design and Control of an Experimental Facility for Emulating Space-Based Robotic Manipulators, Proceedings of International Symposium on Robotics, Montreal, 2000, pp.481-486.
  
• M. Makatchev, S. Lang, S. Tso, and J. McPhee, Cross-Coupling Control for Slippage Minimization of a Four-Wheel-Steering Mobile Robot, Proceedings of International Symposium on Robotics, Montreal, 2000, pp.42-47.
  
• D. Lovekin, G. Heppler, and J. McPhee, Design and Analysis of a Facility for Free-floating Flexible Manipulators, Transactions of the CSME, vol.24, no.2, pp.375-390, 2000.
  
• J. Heilig and J. McPhee, Determination of Minimum-Time Manoeuvres for a Robotic Manipulator using Numerical Optimization Methods, Mechanics of Structures and Machines , vol.27, no.2, pp.185-201, 1999.
  
• D. Horvath, S. Williams, and J. McPhee, Design and Implementation of a Walking Robot, Proceedings of International Conference on Field and Service Robotics, Canberra, Australia, pp.137-144, Dec. 1997.