A Calibration Method of Compliant Planar Parallel Manipulator

被引：0

作者：

Lin, Jian-feng ^{[1
]}

Qi, Chen-kun ^{[1
]}

Wu, Yu-ze ^{[2
]}

Gao, Feng ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China

[2] Shanghai Jiao Tong Univ, Paris Tech Elite Inst Technol, Shanghai 200240, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT II | 2021年 / 13014卷

关键词：

Micro-nano positioning manipulator; Flexure hinge; Stiffness modeling; Stiffness calibration; Finite element analysis;

D O I：

10.1007/978-3-030-89098-8_24

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Flexure hinge is usually used in micro-nano positioning parallel manipulator. High precision kinematics model is the basis of high performance control. In this paper, the stiffness modeling and calibration methods of 3-RPR micro-nano positioning parallel manipulator are studied. The kinematics model of the 3-RPR parallel manipulator is established and the stiffness model of the compliant mechanism is established based on the virtual work principle. Given the driving force vector of the branch chain, the output pose of the end-effector of the manipulator is obtained by finite element analysis. The parameters of the stiffness model are identified by the least square method. Compared with the theoretical results of the finite element model, the validity of the stiffness modeling and calibration methods is verified, which provides a theoretical basis for the experimental verification.

引用

页码：257 / 266

页数：10

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