Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 |
| Publication status | Published - 29 Nov 2006 |
| Externally published | Yes |
| Event | 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 - Philadelphia, PA, United States Duration: 10 Sept 2006 → 13 Sept 2006 |
Publication series
| Name | Proceedings of the ASME Design Engineering Technical Conference |
|---|---|
| Volume | 2006 |
Abstract
Since long time flexure hinges have been used in high precision devices instead of conventional bearings, e.g. ball or sliding bearings. Due to the natural lack of backlash, friction and slip-stick effects in flexure hinges, the accuracy of positioning or measurement devices can be highly increased. Recent applications for flexure hinges are seen in parallel robots. The integration of flexure hinges in parallel structures is quite simple because all joints, except for the drives, are passive. Since flexure hinges gain their mobility from an elastic and plastic deformation of matter, their kinematic behavior differs from the kinematics of ideal rotational joints. This leads to deviations of the compliant mechanism and its rigid body model. In this paper a kinematic model is proposed which allows for a compensation of the introduced hinge errors. Furthermore the dynamic model of a compliant parallel robot is derived and verified by means of simulation studies. This dynamic model can be used e.g. for model-based robot control algorithms or for the dimensioning of drives for compliant mechanisms.
Keywords
- Compliant parallel structure, Dynamic model, Flexure hinges, Kinematics, Pseudo-elastic SMA
ASJC Scopus subject areas
- Mathematics(all)
- Modelling and Simulation
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
Cite this
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Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006. 2006. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2006).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Modeling compliant parallel robots
AU - Raatz, Annika
AU - Trauden, Frank
AU - Hesselbach, Jürgen
PY - 2006/11/29
Y1 - 2006/11/29
N2 - Since long time flexure hinges have been used in high precision devices instead of conventional bearings, e.g. ball or sliding bearings. Due to the natural lack of backlash, friction and slip-stick effects in flexure hinges, the accuracy of positioning or measurement devices can be highly increased. Recent applications for flexure hinges are seen in parallel robots. The integration of flexure hinges in parallel structures is quite simple because all joints, except for the drives, are passive. Since flexure hinges gain their mobility from an elastic and plastic deformation of matter, their kinematic behavior differs from the kinematics of ideal rotational joints. This leads to deviations of the compliant mechanism and its rigid body model. In this paper a kinematic model is proposed which allows for a compensation of the introduced hinge errors. Furthermore the dynamic model of a compliant parallel robot is derived and verified by means of simulation studies. This dynamic model can be used e.g. for model-based robot control algorithms or for the dimensioning of drives for compliant mechanisms.
AB - Since long time flexure hinges have been used in high precision devices instead of conventional bearings, e.g. ball or sliding bearings. Due to the natural lack of backlash, friction and slip-stick effects in flexure hinges, the accuracy of positioning or measurement devices can be highly increased. Recent applications for flexure hinges are seen in parallel robots. The integration of flexure hinges in parallel structures is quite simple because all joints, except for the drives, are passive. Since flexure hinges gain their mobility from an elastic and plastic deformation of matter, their kinematic behavior differs from the kinematics of ideal rotational joints. This leads to deviations of the compliant mechanism and its rigid body model. In this paper a kinematic model is proposed which allows for a compensation of the introduced hinge errors. Furthermore the dynamic model of a compliant parallel robot is derived and verified by means of simulation studies. This dynamic model can be used e.g. for model-based robot control algorithms or for the dimensioning of drives for compliant mechanisms.
KW - Compliant parallel structure
KW - Dynamic model
KW - Flexure hinges
KW - Kinematics
KW - Pseudo-elastic SMA
UR - http://www.scopus.com/inward/record.url?scp=33751315085&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:33751315085
SN - 079183784X
SN - 9780791837849
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
T2 - 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
Y2 - 10 September 2006 through 13 September 2006
ER -