Mechatronic Model of a Compliant 3PRS Parallel Manipulator
نویسندگان
چکیده
Compliant mechanisms are widely used for instrumentation and measuring devices their precision high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating inverse direct kinematics, dynamic problem dynamics actuators control. The kinematic solved, assuming pseudo-rigid deflection in revolute spherical joints. using Principle Energy Equivalence. allows prediction bandwidth motion 3 degrees freedom given control set actuators, helping design optimum solution. A prototype built validated, comparing experimental signals with ones from model.
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ژورنال
عنوان ژورنال: Robotics
سال: 2021
ISSN: ['2218-6581']
DOI: https://doi.org/10.3390/robotics11010004