Mechatronic Model of a Compliant 3PRS Parallel Manipulator
dc.contributor.author | Ruiz, Antonio | |
dc.contributor.author | Campa Gómez, Francisco Javier | |
dc.contributor.author | Altuzarra Maestre, Oscar | |
dc.contributor.author | Herrero Villalibre, Saioa | |
dc.contributor.author | Díez Sánchez, Mikel | |
dc.date.accessioned | 2022-03-01T09:54:44Z | |
dc.date.available | 2022-03-01T09:54:44Z | |
dc.date.issued | 2021-12-28 | |
dc.identifier.citation | Robotics 11(1) : (2021) // Article ID 4 | es_ES |
dc.identifier.issn | 2218-6581 | |
dc.identifier.uri | http://hdl.handle.net/10810/55601 | |
dc.description.abstract | 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. | es_ES |
dc.description.sponsorship | Authors would like to thank the Ministerio de Ciencia e Innovación of the Spanish government for funding the project PID2019-105262RB-I00. | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | MDPI | es_ES |
dc.relation | info:eu-repo/grantAgreement/MICINN/PID2019-105262RB-I00 | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ | |
dc.subject | compliant mechanisms | es_ES |
dc.subject | parallel compliant mechanisms | es_ES |
dc.subject | 3PRS parallel kinematics | es_ES |
dc.subject | mechatronics | es_ES |
dc.title | Mechatronic Model of a Compliant 3PRS Parallel Manipulator | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.date.updated | 2022-02-24T14:50:02Z | |
dc.rights.holder | 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). | es_ES |
dc.relation.publisherversion | https://www.mdpi.com/2218-6581/11/1/4/htm | es_ES |
dc.identifier.doi | 10.3390/robotics11010004 | |
dc.departamentoes | Ingeniería mecánica | |
dc.departamentoeu | Ingeniaritza mekanikoa |
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Except where otherwise noted, this item's license is described as 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).