Mechatronic Model of a Compliant 3PRS Parallel Manipulator
Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kinematics, the inverse dynamic problem of the manipul...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/1/4 |
| _version_ | 1797476727034740736 |
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| author | Antonio Ruiz Francisco J. Campa Oscar Altuzarra Saioa Herrero Mikel Diez |
| author_facet | Antonio Ruiz Francisco J. Campa Oscar Altuzarra Saioa Herrero Mikel Diez |
| author_sort | Antonio Ruiz |
| collection | DOAJ |
| description | Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kinematics, the inverse dynamic problem of the manipulator and the dynamics of the actuators and the control. The kinematic problem is solved, assuming a pseudo-rigid model for the deflection in the compliant revolute and spherical joints. The inverse dynamic problem is solved, using the Principle of Energy Equivalence. The mechatronic model allows the prediction of the bandwidth of the manipulator motion in the 3 degrees of freedom for a given control and set of actuators, helping in the design of the optimum solution. A prototype is built and validated, comparing experimental signals with the ones from the model. |
| first_indexed | 2024-03-09T21:07:47Z |
| format | Article |
| id | doaj.art-04e6d226ce3544f6bb4e8800c970ec7a |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T21:07:47Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-04e6d226ce3544f6bb4e8800c970ec7a2023-11-23T21:56:57ZengMDPI AGRobotics2218-65812021-12-01111410.3390/robotics11010004Mechatronic Model of a Compliant 3PRS Parallel ManipulatorAntonio Ruiz0Francisco J. Campa1Oscar Altuzarra2Saioa Herrero3Mikel Diez4Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, SpainDepartment of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, SpainDepartment of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, SpainDepartment of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, SpainDepartment of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, SpainCompliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kinematics, the inverse dynamic problem of the manipulator and the dynamics of the actuators and the control. The kinematic problem is solved, assuming a pseudo-rigid model for the deflection in the compliant revolute and spherical joints. The inverse dynamic problem is solved, using the Principle of Energy Equivalence. The mechatronic model allows the prediction of the bandwidth of the manipulator motion in the 3 degrees of freedom for a given control and set of actuators, helping in the design of the optimum solution. A prototype is built and validated, comparing experimental signals with the ones from the model.https://www.mdpi.com/2218-6581/11/1/4compliant mechanismsparallel compliant mechanisms3PRS parallel kinematicsmechatronics |
| spellingShingle | Antonio Ruiz Francisco J. Campa Oscar Altuzarra Saioa Herrero Mikel Diez Mechatronic Model of a Compliant 3PRS Parallel Manipulator Robotics compliant mechanisms parallel compliant mechanisms 3PRS parallel kinematics mechatronics |
| title | Mechatronic Model of a Compliant 3PRS Parallel Manipulator |
| title_full | Mechatronic Model of a Compliant 3PRS Parallel Manipulator |
| title_fullStr | Mechatronic Model of a Compliant 3PRS Parallel Manipulator |
| title_full_unstemmed | Mechatronic Model of a Compliant 3PRS Parallel Manipulator |
| title_short | Mechatronic Model of a Compliant 3PRS Parallel Manipulator |
| title_sort | mechatronic model of a compliant 3prs parallel manipulator |
| topic | compliant mechanisms parallel compliant mechanisms 3PRS parallel kinematics mechatronics |
| url | https://www.mdpi.com/2218-6581/11/1/4 |
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