Abstract. The dynamic study of a parallel meso-manipulator, characterized by flexure hinge joints and by an original planar structure, is addressed in this paper under small displacements. This work has to be considered as the continuation of a previous paper, developing the kinematic study and the workspace analysis of the same structure[1]. The present paper deals with the dynamic analysis of the meso-manipulator: as first outcome, a dynamic response strictly related to the implemented motion profile emerges from the simulations results. A noise contribute has been thereafter introduced into the symmetric trapezoidal profile to simulate a real-world behaviour, and also the compliance performances of the robot are evaluated with this noise force. [1] Amici, C., Borboni, A., Magnani, P.L., Pomi, D. (2008) Kinematic Analysis of a Compliant Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure. 2nd European Conference on Mechanism Science EUCOMES2008, Cassino, Italy
Dynamic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure
AMICI, Cinzia
;BORBONI, Alberto
;MAGNANI, Pier Luigi
;POMI, Diego
2009-01-01
Abstract
Abstract. The dynamic study of a parallel meso-manipulator, characterized by flexure hinge joints and by an original planar structure, is addressed in this paper under small displacements. This work has to be considered as the continuation of a previous paper, developing the kinematic study and the workspace analysis of the same structure[1]. The present paper deals with the dynamic analysis of the meso-manipulator: as first outcome, a dynamic response strictly related to the implemented motion profile emerges from the simulations results. A noise contribute has been thereafter introduced into the symmetric trapezoidal profile to simulate a real-world behaviour, and also the compliance performances of the robot are evaluated with this noise force. [1] Amici, C., Borboni, A., Magnani, P.L., Pomi, D. (2008) Kinematic Analysis of a Compliant Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure. 2nd European Conference on Mechanism Science EUCOMES2008, Cassino, ItalyI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
