Incorporating Flexure Hinges in the Kinematic Model of a Planar 3-PRR Parallel Robot
| Categories |
Konferenz |
| Year | 2010 |
| Authors | Ellwood, J.; Schütz, D.; Raatz, A. |
| Published in | New Trends in Mechanism Science - Analysis and Design, 3rd European Conference on Mechanism Science (EUCOMES 2010), Springer, Cluj-Napoca, Romania, 2010, pp. 683-690 |
Description
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.
| ISBN | 978-9-04819-688-3 |
| DOI | 10.1007/978-90-481-9689-0_78 |
