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Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure

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New Trends in Mechanism Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 5))

Abstract

The Parvus is a miniaturized precision robot driven by micro drives. The robot is well suited for pick-and-place applications with a repeatability in the range of a few micrometers. Due to the miniaturization of the machine parts used in the Parvus, disturbing effects in the robot drives in combination with load torque cause dynamic vibrations of the robot structure. To optimize the dynamic behavior of the robot, the common approach of a computed torque feed forward control (CTFF) strategy is investigated. The results of the inverse dynamic model show why this control strategy is not applicable in this case, but gives insight for other approaches.

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References

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Author information

Authors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, D-38106, Braunschweig, Germany

    A. Burisch, S. Drewenings, R. J. Ellwood & A. Raatz

  2. Mechanics and Programming Department, Technical University of Cluj-Napoca, 400641, Cluj-Napoca, Romania

    D. Pisla

Authors
  1. A. Burisch
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  2. S. Drewenings
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  3. R. J. Ellwood
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  4. A. Raatz
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  5. D. Pisla
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Corresponding author

Correspondence to A. Burisch .

Editor information

Editors and Affiliations

  1. Technical University of Cluj-Napoca, Memorandumului 28, Cluj-Napoca, 400114, Romania

    Doina Pisla

  2. Dipto. Meccanica, Strutture,, Ambiente e Territorio (DiMSAT), Università Cassino, Via G. di Biasio 43, Cassino, 03043, Italy

    Marco Ceccarelli

  3. Inst. Technische Mathematik,, Geometrie und Bauinformatik, Universität Innsbruck, Technikerstr. 13, Innsbruck, 6020, Austria

    Manfred Husty

  4. FB 4 Inst. f. Getriebetechnik u., Maschinendynamik, RWTH Aachen, Eilfschornsteinstr. 18, Aachen, 52062, Germany

    Burkhard Corves

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Burisch, A., Drewenings, S., Ellwood, R.J., Raatz, A., Pisla, D. (2010). Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure. In: Pisla, D., Ceccarelli, M., Husty, M., Corves, B. (eds) New Trends in Mechanism Science. Mechanisms and Machine Science, vol 5. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9689-0_14

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  • DOI: https://doi.org/10.1007/978-90-481-9689-0_14

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-9688-3

  • Online ISBN: 978-90-481-9689-0

  • eBook Packages: EngineeringEngineering (R0)

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