Details
| Original language | English |
|---|---|
| Title of host publication | New Trends in Mechanism Science |
| Subtitle of host publication | Analysis and Design |
| Publisher | Kluwer Academic Publishers |
| Pages | 117-124 |
| Number of pages | 8 |
| ISBN (print) | 9789048196883 |
| Publication status | Published - 27 Jul 2010 |
| Externally published | Yes |
| Event | 3rd European Conference on Mechanism Science, EUCOMES 2010 - Cluj-Napoca, Romania Duration: 14 Sept 2010 → 18 Sept 2010 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 5 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
The Parvus is a miniaturized precision robot driven by micro drives. The robot is well suited for pick-and-place applications with a repeatability in the range of a few micrometers. Due to the miniaturization of the machine parts used in the Parvus, disturbing effects in the robot drives in combination with load torque cause dynamic vibrations of the robot structure. To optimize the dynamic behavior of the robot, the common approach of a computed torque feed forward control (CTFF) strategy is investigated. The results of the inverse dynamic model show why this control strategy is not applicable in this case, but gives insight for other approaches.
Keywords
- Inverse dynamic model, Micro gear, Miniaturized robot, Torque control
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
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New Trends in Mechanism Science: Analysis and Design. Kluwer Academic Publishers, 2010. p. 117-124 (Mechanisms and Machine Science; Vol. 5).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Analysis and inverse dynamic model of a miniaturized robot structure
AU - Burisch, Arne
AU - Drewenings, S.
AU - Ellwood, R. J.
AU - Raatz, Annika
AU - Pisla, D.
PY - 2010/7/27
Y1 - 2010/7/27
N2 - The Parvus is a miniaturized precision robot driven by micro drives. The robot is well suited for pick-and-place applications with a repeatability in the range of a few micrometers. Due to the miniaturization of the machine parts used in the Parvus, disturbing effects in the robot drives in combination with load torque cause dynamic vibrations of the robot structure. To optimize the dynamic behavior of the robot, the common approach of a computed torque feed forward control (CTFF) strategy is investigated. The results of the inverse dynamic model show why this control strategy is not applicable in this case, but gives insight for other approaches.
AB - The Parvus is a miniaturized precision robot driven by micro drives. The robot is well suited for pick-and-place applications with a repeatability in the range of a few micrometers. Due to the miniaturization of the machine parts used in the Parvus, disturbing effects in the robot drives in combination with load torque cause dynamic vibrations of the robot structure. To optimize the dynamic behavior of the robot, the common approach of a computed torque feed forward control (CTFF) strategy is investigated. The results of the inverse dynamic model show why this control strategy is not applicable in this case, but gives insight for other approaches.
KW - Inverse dynamic model
KW - Micro gear
KW - Miniaturized robot
KW - Torque control
UR - http://www.scopus.com/inward/record.url?scp=79961081247&partnerID=8YFLogxK
U2 - 10.1007/978-90-481-9689-0_14
DO - 10.1007/978-90-481-9689-0_14
M3 - Conference contribution
AN - SCOPUS:79961081247
SN - 9789048196883
T3 - Mechanisms and Machine Science
SP - 117
EP - 124
BT - New Trends in Mechanism Science
PB - Kluwer Academic Publishers
T2 - 3rd European Conference on Mechanism Science, EUCOMES 2010
Y2 - 14 September 2010 through 18 September 2010
ER -