Modeling compliant parallel robots

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

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  • Technische Universität Braunschweig
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Details

Original languageEnglish
Title of host publicationProceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006
Publication statusPublished - 29 Nov 2006
Externally publishedYes
Event2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 - Philadelphia, PA, United States
Duration: 10 Sept 200613 Sept 2006

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2006

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

Cite this

Modeling compliant parallel robots. / Raatz, Annika; Trauden, Frank; Hesselbach, Jürgen.
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 proceedingConference contributionResearchpeer review

Raatz, A, Trauden, F & Hesselbach, J 2006, Modeling compliant parallel robots. in Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006. Proceedings of the ASME Design Engineering Technical Conference, vol. 2006, 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006, Philadelphia, PA, United States, 10 Sept 2006.
Raatz, A., Trauden, F., & Hesselbach, J. (2006). Modeling compliant parallel robots. In Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2006).
Raatz A, Trauden F, Hesselbach J. Modeling compliant parallel robots. In 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).
Raatz, Annika ; Trauden, Frank ; Hesselbach, Jürgen. / Modeling compliant parallel robots. 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).
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