TY - JOUR

T1 - Kinematic and dynamic modeling of compliant parallel robots

AU - Raatz, Annika

AU - Trauden, Frank

AU - Plitea, Nicolae

AU - Hesselbach, Jürgen

AU - Last, Philipp

PY - 2006/6/22

Y1 - 2006/6/22

N2 - A kinematic model which allowed for a compensation of the introduced hinge errors was presented. The dynamic model of compliant parallel robots was analytically derived. It was found that a consistency check of the analytic dynamic model with a simulation of the robot with the multi-body software ADAMS leads to very good results. With the new kinematic model the deviation of the compliant mechanism were minimized. It was demonstrated that this new model needs only a few additional computations compared to the formerly and can be easily implemented in a robot control. This model provided not only a good repeatability of compliant mechanisms but also a good absolute positioning accuracy.

AB - A kinematic model which allowed for a compensation of the introduced hinge errors was presented. The dynamic model of compliant parallel robots was analytically derived. It was found that a consistency check of the analytic dynamic model with a simulation of the robot with the multi-body software ADAMS leads to very good results. With the new kinematic model the deviation of the compliant mechanism were minimized. It was demonstrated that this new model needs only a few additional computations compared to the formerly and can be easily implemented in a robot control. This model provided not only a good repeatability of compliant mechanisms but also a good absolute positioning accuracy.

KW - Compliant Parallel Robots

KW - Dynamic Model

KW - Kinematics

KW - PE-SMA Flexure Hinges

UR - http://www.scopus.com/inward/record.url?scp=33745176633&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:33745176633

JO - VDI Berichte

JF - VDI Berichte

SN - 0083-5560

IS - 1956

ER -