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A Calibration Method of Compliant Planar Parallel Manipulator

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13014))

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Abstract

Flexure hinge is usually used in micro-nano positioning parallel manipulator. High precision kinematics model is the basis of high performance control. In this paper, the stiffness modeling and calibration methods of 3-RPR micro-nano positioning parallel manipulator are studied. The kinematics model of the 3-RPR parallel manipulator is established and the stiffness model of the compliant mechanism is established based on the virtual work principle. Given the driving force vector of the branch chain, the output pose of the end-effector of the manipulator is obtained by finite element analysis. The parameters of the stiffness model are identified by the least square method. Compared with the theoretical results of the finite element model, the validity of the stiffness modeling and calibration methods is verified, which provides a theoretical basis for the experimental verification.

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Funding

The work is partially supported by a grant Shanghai Natural Science Foundation (Grant No. 19ZR1425500).

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Jian-feng Lin, Chen-kun Qi & Feng Gao

  2. Paris Tech Elite Institute of Technology, Shanghai Jiao Tong University, Shanghai, 200240, China

    Yu-ze Wu

Authors
  1. Jian-feng Lin
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  2. Chen-kun Qi
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  3. Yu-ze Wu
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  4. Feng Gao
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Corresponding author

Correspondence to Chen-kun Qi .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Lin, Jf., Qi, Ck., Wu, Yz., Gao, F. (2021). A Calibration Method of Compliant Planar Parallel Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_24

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  • DOI: https://doi.org/10.1007/978-3-030-89098-8_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89097-1

  • Online ISBN: 978-3-030-89098-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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