Mechatronic Model of a Compliant 3PRS Parallel Manipulator

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.

An Inverse Kinematic Model for the 3-PRS Compliant Parallel Mechanism With Forward Causative Force

“…According to the definitions, FKM and IKM are reciprocal, which means that the solution of the FKM should be identical to the condition of the IKM, and vice verso. In previous work, the rigid body inverse kinematic model (RIKM) is commonly used as an approximate IKM for the CPM, where the mechanical behavior of the flexure hinge is ignored and the geometric constraint of the kinematic chain is with ideal joints [5][6][7][8]. RIKM provides a straightforward method for analyzing the kinematics of the CPM.…”