Conference Proceedings

Certified workspace analysis of 3RRR planar parallel flexure mechanism

Denny Oetomo, David Daney, Bijan Shirinzadeh, Jean-Pierre Merlet

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | IEEE | Published : 2008

Abstract

This paper addresses the problem of certifying the performance of a precision flexure-base mechanism design with respect to the given constraints. Due to the stringent requirements associated with the applications of flexure-based precision mechanisms, it is necessary to be able to evaluate and certify the performance at the design stage, taking into account the possible sources of errors: such as fabrication tolerance and modeling inaccuracies in flexure joints. An interval-based method is proposed to certify whether various constraints are satisfied for all points within a required workspace. This paper presents the interval-based methodology and its implementation on a planar 3RRR paralle..

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University of Melbourne Researchers

Grants

Awarded by NEST-Adventure European Union project (EU)


Funding Acknowledgements

This study is conducted under Project ARES, a NEST-Adventure European Union project (EU contract no. 015653)