@inproceedings{373c7d8bf27b4ef48673fcd6da45837d,
title = "Modeling compliant parallel robots",
abstract = "Since long time flexure hinges have been used in high precision devices instead of conventional bearings, e.g. ball or sliding bearings. Due to the natural lack of backlash, friction and slip-stick effects in flexure hinges, the accuracy of positioning or measurement devices can be highly increased. Recent applications for flexure hinges are seen in parallel robots. The integration of flexure hinges in parallel structures is quite simple because all joints, except for the drives, are passive. Since flexure hinges gain their mobility from an elastic and plastic deformation of matter, their kinematic behavior differs from the kinematics of ideal rotational joints. This leads to deviations of the compliant mechanism and its rigid body model. In this paper a kinematic model is proposed which allows for a compensation of the introduced hinge errors. Furthermore the dynamic model of a compliant parallel robot is derived and verified by means of simulation studies. This dynamic model can be used e.g. for model-based robot control algorithms or for the dimensioning of drives for compliant mechanisms.",
keywords = "Compliant parallel structure, Dynamic model, Flexure hinges, Kinematics, Pseudo-elastic SMA",
author = "Annika Raatz and Frank Trauden and J{\"u}rgen Hesselbach",
year = "2006",
month = nov,
day = "29",
language = "English",
isbn = "079183784X",
series = "Proceedings of the ASME Design Engineering Technical Conference",
booktitle = "Proceedings of 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006",
note = "2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006 ; Conference date: 10-09-2006 Through 13-09-2006",
}