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 | 683-690 |
| 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
In order to improve the absolute positioning abilities of the 3-PRR planar parallel robot MICABOes, its kinematic model is adapted to take the predictable motion of flexure hinges into consideration. This is accomplished by replacing the idealized rotations within the kinematicmodel with a complexer rotational model. A set of kinematic equations is derived for the robot which is solved using an iterative method. A method for calibrating these equations is then explained and a simulation is used to show its success implementation.
Keywords
- Compliant mechanism, Flexure hinge, Kinematic model, Parallel robot
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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New Trends in Mechanism Science: Analysis and Design. Kluwer Academic Publishers, 2010. p. 683-690 (Mechanisms and Machine Science; Vol. 5).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Incorporating flexure hinges in the kinematic model of a planar 3-PRR parallel robot
AU - Ellwood, R. J.
AU - Schütz, Daniel
AU - Raatz, Annika
PY - 2010/7/27
Y1 - 2010/7/27
N2 - In order to improve the absolute positioning abilities of the 3-PRR planar parallel robot MICABOes, its kinematic model is adapted to take the predictable motion of flexure hinges into consideration. This is accomplished by replacing the idealized rotations within the kinematicmodel with a complexer rotational model. A set of kinematic equations is derived for the robot which is solved using an iterative method. A method for calibrating these equations is then explained and a simulation is used to show its success implementation.
AB - In order to improve the absolute positioning abilities of the 3-PRR planar parallel robot MICABOes, its kinematic model is adapted to take the predictable motion of flexure hinges into consideration. This is accomplished by replacing the idealized rotations within the kinematicmodel with a complexer rotational model. A set of kinematic equations is derived for the robot which is solved using an iterative method. A method for calibrating these equations is then explained and a simulation is used to show its success implementation.
KW - Compliant mechanism
KW - Flexure hinge
KW - Kinematic model
KW - Parallel robot
UR - http://www.scopus.com/inward/record.url?scp=84896616023&partnerID=8YFLogxK
U2 - 10.1007/978-90-481-9689-0_78
DO - 10.1007/978-90-481-9689-0_78
M3 - Conference contribution
AN - SCOPUS:84896616023
SN - 9789048196883
T3 - Mechanisms and Machine Science
SP - 683
EP - 690
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 -