ForschungPublikationen
Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges

Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges

Kategorien Konferenz
Jahr 2010
Autoren Ellwood, J.; Schütz, D.; Raatz, A.; Hesselbach, J.
Veröffentlicht in in: Advances in Robot Kinematics - Motion in Man and Machine (ARK 2010), Springer, Piran, Slowenia, 2010
Beschreibung

'In order to improve the precision of rigid body based kinematic models of flexure hinges, a review of applicable models is conducted. From these, a modification of the method proposed by Kimball and Tsai is proposed to decrease the number of calibration parameters whilemaintaining its versatility. The new model”™s validity is tested by first calibrating it using data obtained from a flexure hinge test bench. It is then shown that this modified method is able to replicate the actual path traversed by a flexure hinge, while decreasing the model and calibration complexity. A chart of the four methods is then used to allow a qualitative and quantitative comparison of the four different rigid body kinematic models of flexure hinges'

ISBN 978-9-04819-261-8