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Mechatronic and Robotic Systems

[ 2 DOF Robotic-Arm Manipulator ] [ Hexplorer: Relative Dimensions ]

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.


 

[ Motion Research Group ]
[ University of Waterloo ]
[ 200 University Ave. W. | Waterloo, Ontario, Canada | N2L 3G1 ]
[ www.real.uwaterloo.ca/~morg ]
[ www.uwaterloo.ca ]