Design and control of a parallel kinematic 6-DOFs precision manipulator

M.B.P. Huijts; D.M. Brouwer; J. van Dijk

Design and control of a parallel kinematic 6-DOFs precision manipulator

M.B.P. Huijts
, D.M. Brouwer
, J. van Dijk

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

143 Downloads (Pure)

Abstract

A scaled-up version of a MEMS based six degrees-of-freedom precision manipulator has been designed and built. A model necessary for control purposes was validated with experiments. These experiments show a great resemblance between model and mechanism. A closed loop control system with feedforward has been designed and implemented which resulted in a tracking error according to the specifications

Original language	English
Title of host publication	Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009
Subtitle of host publication	June 2^nd - June 5^th 2009, San Sebastian, Spain
Editors	H. Van Brussel, E. Brinksmeier, H. Spaan, T. Burke, D. Nyman
Place of Publication	San Sebastian, Spain
Publisher	EUSPEN
Pages	357-360
Volume	I
ISBN (Print)	978-0-9553082-6-0
Publication status	Published - 2 Jun 2009
Event	9th EUSPEN International Conference 2009 - Kursaal Congress Centre, San Sebastian, Spain Duration: 2 May 2009 → 5 May 2009 Conference number: 9

Conference

Conference	9th EUSPEN International Conference 2009
Abbreviated title	EUSPEN
Country/Territory	Spain
City	San Sebastian
Period	2/05/09 → 5/05/09

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Huijts, M. B. P., Brouwer, D. M., & van Dijk, J. (2009). Design and control of a parallel kinematic 6-DOFs precision manipulator. In H. Van Brussel, E. Brinksmeier, H. Spaan, T. Burke, & D. Nyman (Eds.), Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009: June 2^nd - June 5^th 2009, San Sebastian, Spain (Vol. I, pp. 357-360). EUSPEN.

Huijts, M.B.P. ; Brouwer, D.M. ; van Dijk, J. / Design and control of a parallel kinematic 6-DOFs precision manipulator. Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009: June 2^nd - June 5^th 2009, San Sebastian, Spain. editor / H. Van Brussel ; E. Brinksmeier ; H. Spaan ; T. Burke ; D. Nyman. Vol. I San Sebastian, Spain : EUSPEN, 2009. pp. 357-360

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abstract = "A scaled-up version of a MEMS based six degrees-of-freedom precision manipulator has been designed and built. A model necessary for control purposes was validated with experiments. These experiments show a great resemblance between model and mechanism. A closed loop control system with feedforward has been designed and implemented which resulted in a tracking error according to the specifications",

author = "M.B.P. Huijts and D.M. Brouwer and \{van Dijk\}, J.",

year = "2009",

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booktitle = "Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009",

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Huijts, MBP, Brouwer, DM & van Dijk, J 2009, Design and control of a parallel kinematic 6-DOFs precision manipulator. in H Van Brussel, E Brinksmeier, H Spaan, T Burke & D Nyman (eds), Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009: June 2^nd - June 5^th 2009, San Sebastian, Spain. vol. I, EUSPEN, San Sebastian, Spain, pp. 357-360, 9th EUSPEN International Conference 2009, San Sebastian, Spain, 2/05/09.

Design and control of a parallel kinematic 6-DOFs precision manipulator. / Huijts, M.B.P.; Brouwer, D.M.; van Dijk, J.
Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009: June 2^nd - June 5^th 2009, San Sebastian, Spain. ed. / H. Van Brussel; E. Brinksmeier; H. Spaan; T. Burke; D. Nyman. Vol. I San Sebastian, Spain: EUSPEN, 2009. p. 357-360.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Design and control of a parallel kinematic 6-DOFs precision manipulator

AU - Huijts, M.B.P.

AU - Brouwer, D.M.

AU - van Dijk, J.

N1 - Conference code: 9

PY - 2009/6/2

Y1 - 2009/6/2

N2 - A scaled-up version of a MEMS based six degrees-of-freedom precision manipulator has been designed and built. A model necessary for control purposes was validated with experiments. These experiments show a great resemblance between model and mechanism. A closed loop control system with feedforward has been designed and implemented which resulted in a tracking error according to the specifications

AB - A scaled-up version of a MEMS based six degrees-of-freedom precision manipulator has been designed and built. A model necessary for control purposes was validated with experiments. These experiments show a great resemblance between model and mechanism. A closed loop control system with feedforward has been designed and implemented which resulted in a tracking error according to the specifications

M3 - Conference contribution

SN - 978-0-9553082-6-0

VL - I

SP - 357

EP - 360

BT - Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009

A2 - Van Brussel, H.

A2 - Brinksmeier, E.

A2 - Spaan, H.

A2 - Burke, T.

A2 - Nyman, D.

PB - EUSPEN

CY - San Sebastian, Spain

T2 - 9th EUSPEN International Conference 2009

Y2 - 2 May 2009 through 5 May 2009

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Huijts MBP, Brouwer DM, van Dijk J. Design and control of a parallel kinematic 6-DOFs precision manipulator. In Van Brussel H, Brinksmeier E, Spaan H, Burke T, Nyman D, editors, Proceedings of the 9th Euspen International Conference of the European Society for Precision Engineering and Nanotechnology2009: June 2^nd - June 5^th 2009, San Sebastian, Spain. Vol. I. San Sebastian, Spain: EUSPEN. 2009. p. 357-360

Design and control of a parallel kinematic 6-DOFs precision manipulator

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