A Calibration Method of Compliant Planar Parallel Manipulator

Autor:	Yu-ze Wu, Feng Gao, Jian-feng Lin, Chenkun Qi
Rok vydání:	2021
Předmět:	Computer Science::Robotics Computer science Control theory Parallel manipulator Compliant mechanism Calibration Hinge medicine Stiffness Virtual work Kinematics medicine.symptom Finite element method
Zdroj:	Intelligent Robotics and Applications ISBN: 9783030890971 ICIRA (2)
Popis:	Flexure hinge is usually used in micro-nano positioning parallel manipulator. High precision kinematics model is the basis of high performance control. In this paper, the stiffness modeling and calibration methods of 3-RPR micro-nano positioning parallel manipulator are studied. The kinematics model of the 3-RPR parallel manipulator is established and the stiffness model of the compliant mechanism is established based on the virtual work principle. Given the driving force vector of the branch chain, the output pose of the end-effector of the manipulator is obtained by finite element analysis. The parameters of the stiffness model are identified by the least square method. Compared with the theoretical results of the finite element model, the validity of the stiffness modeling and calibration methods is verified, which provides a theoretical basis for the experimental verification.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e02c701a79de0994df812412e04a06f5 https://doi.org/10.1007/978-3-030-89098-8_24 Zobrazit plný text záznamu