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Dynamic Model of a Compliant 3PRS Parallel Mechanism for Micromilling
(Springer, 2016-09-10)
The objective of this work is to develop a manipulator of 5 degrees of freedom for micromilling. It consists of a XY stage under a 3PRS compliant parallel mechanism, obtaining the advantages of the compliant joints as are ...
Mechatronic modeling of a parallel kinematics multi-axial simulation table based on decoupling the actuators and manipulator dynamics
(Elsevier, 2016-11-07)
In this work a mechatronic model was developed for a parallel Multi-Axial Simulation Table (MAST) mechanism. The dynamics of the mechanism was obtained using the principle of energy equivalence and Boltzmann–Hamel equations. ...
Mechatronics of a ball screw drive using a N degrees of freedom dynamic model
(Springer, 2017-10)
High performance position control in machine tools can only be achieved modelling the dynamic behavior of the mechatronic system composed by the motor, transmission and control during the design stage. In this work, a ...
Experimental Validation of the Kinematic Design of 3PRS Compliant Parallel Mechanisms
(Elsevier, 2016-11)
In this paper, a procedure for the kinematic design of a 3-PRS compliant parallel manipulator of 3 degrees of freedom is proposed. First, under the assumption of small displacements, the solid body kinematics of the 3-PRS ...
Mechatronic Model Based Jerk Optimization in Servodrives with Compliant Load
(Springer Nature Switzerland AG, 2018-08-02)
The aim of this work is to develop a mechatronic model for servodrives that move a compliant load, which is the case of large heavy machine tools. The model integrates the dynamics of the motor, transmission chain and ...
Chatter avoidance in the milling of thin floors with bull-nose end mills: Model and stability diagrams
(Elsevier, 2011-01)
The milling of thin parts is a high added value operation where the machinist has to face the chatter problem. The study of the stability of these operations is a complex task due to the changing modal parameters as the ...
Kinematic Analysis of a Flexible Tensegrity Robot
(Springer, 2017)
In the field of parallel kinematics few designs use highly deformable elements to obtain the end effector movement. Most compliant mechanisms rely on notches or shape changes to simulate a standard kinematic joint. In this ...