Scale-up for model verification; design, modeling and control of an elastic parallel kinematic 6-DOFs manipulator

Martijn Huijts; Dannis Brouwer; Johannes van Dijk

Scale-up for model verification; design, modeling and control of an elastic parallel kinematic 6-DOFs manipulator

Martijn Huijts, Dannis Brouwer, Johannes van Dijk

Faculty of Engineering Technology

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Abstract

Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the size of several square millimeters, however, is difficult. Therefore, a scaled-up version of the manipulator was built. This ‘macro’ version serves as a research platform for the verification of the flexible multibody model including control that was set up using the SPACAR toolbox for Matlab.

Original language	English
Pages (from-to)	42-47
Number of pages	6
Journal	Mikroniek
Volume	49
Issue number	5
Publication status	Published - 2009

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title = "Scale-up for model verification; design, modeling and control of an elastic parallel kinematic 6-DOFs manipulator",

abstract = "Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the size of several square millimeters, however, is difficult. Therefore, a scaled-up version of the manipulator was built. This {\textquoteleft}macro{\textquoteright} version serves as a research platform for the verification of the flexible multibody model including control that was set up using the SPACAR toolbox for Matlab.",

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N2 - Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the size of several square millimeters, however, is difficult. Therefore, a scaled-up version of the manipulator was built. This ‘macro’ version serves as a research platform for the verification of the flexible multibody model including control that was set up using the SPACAR toolbox for Matlab.

AB - Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the size of several square millimeters, however, is difficult. Therefore, a scaled-up version of the manipulator was built. This ‘macro’ version serves as a research platform for the verification of the flexible multibody model including control that was set up using the SPACAR toolbox for Matlab.

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Scale-up for model verification; design, modeling and control of an elastic parallel kinematic 6-DOFs manipulator

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