지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 2,117 - 2,120 (4page)
이용수
초록· 키워드
오류제보하기
This paper presents an analysis of large range rotational flexure (or compliant) joints which were used in precision 6-DOF (degrees-of-freedom) tripod robot. In traditional parallel robot, the friction in the passive joints is one of major hurdles to achieve the high precision motion and it is necessary that all of the revolute joints should be replaced by the compliant joints to get rid of backlash and clearance effects. Compliant joints have many advantages, such as negligible backlash, stick-slip friction and wear, smooth and continuous displacement, an almost linear displacement relationship between input and output, and an inherently infinite resolution. However, their limited motion range due to the elastic limits of materials restricts their area of application to the fine motion mechanism with small motion range. The leaf-spring mechanism based compliant joints such as cross-strip flexure, cartwheel flexure and axial-strip flexure can provide relatively large rotation range over than 10 degrees. In our tripod robot, the cartwheel flexure and axial-strip flexure were adopted and analytic models of these two complaints are derived and verified by comparing the model’s predictions with FEM (Finite Element Method) simulations. The model prediction accuracy relative to FEM simulations is found to be with errors of less than 14%.
목차
Abstract
1. INTRODUCTION
2. 6-DOF TRIPOD ROBOT
3. MODEL OF FLEXURE JOINT
4. CONCLUSION
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0