Details
| Original language | English |
|---|---|
| Number of pages | 1 |
| Journal | VDI Berichte |
| Issue number | 1956 |
| Publication status | Published - 22 Jun 2006 |
| Externally published | Yes |
Abstract
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.
Keywords
- Compliant Parallel Robots, Dynamic Model, Kinematics, PE-SMA Flexure Hinges
ASJC Scopus subject areas
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In: VDI Berichte, No. 1956, 22.06.2006.
Research output: Contribution to journal › Article › Research › peer review
}
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 -