In this paper, some basic dynamic characteristics of two new micro-compliant mechanisms (one planar, spatial the other) have been analyzed both theoretically and experimentally. The theoretical models have been built by using the well-known elementary concentrated parameters, namely, springs, masses, and dampers. Optical methods allowed to acquire the end tip platform free response to a given initial displacement from the equilibrium position. Each micromanipulator has been simulated by two simplified models, having, respectively, one and two degrees of freedom (D.O.F.). According to the experimental evidence, the 2 D.O.F. models seem matching the real systems better than the 1 D.O.F. models. Results have been useful in the real systems parameter identification, which is necessary in the dynamic multi-body simulation and in the material selection in design.
Dynamic Performance of Micro-Compliant Platforms: Experimental Analysis / Belfiore, Nicola Pio; M., Scaccia; A., Di Vasta; F., Ianniello. - ELETTRONICO. - (2006). (Intervento presentato al convegno 15th Int. Workshop on Robotics in Alpe-Adria-Danube Region tenutosi a Balatonfüred, Hungary nel June 15-17, 2006).
Dynamic Performance of Micro-Compliant Platforms: Experimental Analysis
BELFIORE, Nicola Pio;
2006
Abstract
In this paper, some basic dynamic characteristics of two new micro-compliant mechanisms (one planar, spatial the other) have been analyzed both theoretically and experimentally. The theoretical models have been built by using the well-known elementary concentrated parameters, namely, springs, masses, and dampers. Optical methods allowed to acquire the end tip platform free response to a given initial displacement from the equilibrium position. Each micromanipulator has been simulated by two simplified models, having, respectively, one and two degrees of freedom (D.O.F.). According to the experimental evidence, the 2 D.O.F. models seem matching the real systems better than the 1 D.O.F. models. Results have been useful in the real systems parameter identification, which is necessary in the dynamic multi-body simulation and in the material selection in design.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
