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A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping

หน่วยงาน Nanyang Technological University, Singapore

รายละเอียด

ชื่อเรื่อง : A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping
นักวิจัย : Zhao, Su , Aye, Yan Naing , Shee, Cheng Yap , Chen, I-Ming , Ang, Wei Tech
คำค้น : -
หน่วยงาน : Nanyang Technological University, Singapore
ผู้ร่วมงาน : -
ปีพิมพ์ : 2555
อ้างอิง : Zhao, S., Aye, Y. N., Shee, C. Y., Chen, I.-M., & Ang, W. T. (2012). A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping. 2012 IEEE International Conference on Robotics and Automation (ICRA), 4475-4480. , http://hdl.handle.net/10220/11081 , http://dx.doi.org/10.1109/ICRA.2012.6225138
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : -
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

To fulfill the needs for accurate trajectory tracking with large displacement in a handheld instrument, a 3-DOF serial compliant mechanism is developed. The mechanism is compact with a total length less than 150 mm and a maximum diameter of 22 mm. Two flexures are developed using different rapid prototyping techniques: one 3-DOF flexural lever made of Vero-Gray by Polyjet and a 1-DOF translational flexure made of stainless steel by Direct Metal Laser Sintering (DMLS). Analytical and Finite Element (FE) models are developed for the proposed flexural mechanisms. Experiments are conducted on a prototype. To improve the tracking accuracy, the hysteretic nonlinearities of the system are modeled using Prandtl-Ishlinskii model. Inverse feedforward controller is implemented to linearize the relationship between input and output. The tracking errors are reduced while maintaining a fast response of the system. The total tracking errors are identified individually for each axis and then compensated. Tracking performances of the tool tip are evaluated experimentally with different inputs. The RMS tracking error of the proposed mechanism is lower than 1 μm in all axes, which is improved more than four times compared to the previous systems.

บรรณานุกรม :
Zhao, Su , Aye, Yan Naing , Shee, Cheng Yap , Chen, I-Ming , Ang, Wei Tech . (2555). A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping.
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Zhao, Su , Aye, Yan Naing , Shee, Cheng Yap , Chen, I-Ming , Ang, Wei Tech . 2555. "A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping".
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Zhao, Su , Aye, Yan Naing , Shee, Cheng Yap , Chen, I-Ming , Ang, Wei Tech . "A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping."
    กรุงเทพมหานคร : Nanyang Technological University, Singapore, 2555. Print.
Zhao, Su , Aye, Yan Naing , Shee, Cheng Yap , Chen, I-Ming , Ang, Wei Tech . A compact 3-DOF compliant serial mechanism for trajectory tracking with flexures made by rapid prototyping. กรุงเทพมหานคร : Nanyang Technological University, Singapore; 2555.