In this paper a study on compliant parallel micromanipulators is presented. In particular, the elastic joints are firstly characterized through both an analytical and numerical treatment, the latter based on FEA. This allows to evaluate the influence of the joint geometry on the main parameters of the joint compliances, more frequently adopted in the applications. Finally, an experimental campaign is conducted on a sample prototype with the purpose of inquiring about the actual feasibility of a manipulator that embeds one or more types of the analyzed joints.
Numerical and Experimental Characterization of Compliant Joints in Micro-Manipulators with parallel Architecture / R., Fagiani; A., Serafini; M., Scaccia; Belfiore, Nicola Pio. - ELETTRONICO. - (2008). (Intervento presentato al convegno Proceedings of the RAAD 2008, 17th InternationalWorkshop on Robotics in Alpe–Adria–Danube Region tenutosi a Ancona, Italy nel 15 - 17 settembre 2008).
Numerical and Experimental Characterization of Compliant Joints in Micro-Manipulators with parallel Architecture
BELFIORE, Nicola Pio
2008
Abstract
In this paper a study on compliant parallel micromanipulators is presented. In particular, the elastic joints are firstly characterized through both an analytical and numerical treatment, the latter based on FEA. This allows to evaluate the influence of the joint geometry on the main parameters of the joint compliances, more frequently adopted in the applications. Finally, an experimental campaign is conducted on a sample prototype with the purpose of inquiring about the actual feasibility of a manipulator that embeds one or more types of the analyzed joints.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
