The Analysis and Design Study of High Speed Robotic Devices

Abstract:

The problem of multi d.o.f. positioning devices based on compact compliant kinematic mechanisms is to guarantee the desired positional accuracy in static and especially in dynamic modes of operation. The study of accuracy and performance analysis of high speed devices is made in this paper. The influence of differences between stiffness and damping coefficients in actuated directions as well as mutual cross couplings between them are discussed in details and performance characteristics of such complex systems are simulated. As proposed the problem of improving accuracy can be solved by insertion of the compensation member into control system that could be integrated in parallel or serial way. The presented approach enables to verify the dynamical range of operation for small / micro positioning devices performing precise trajectory following tasks.

• Periodical: Applied Mechanics and Materials (Volume 282)
• Pages: 18-26
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.282.18
• Online since: January 2013
• Authors: Štefan Havlík, Jaroslav Hricko
• Keywords: Compliant Mechanism, Dynamic, Modeling, Positioning Accuracy, Simulation

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