Mechanical modelling and control layout of a mini-PKM for assembly applications

摘要

The paper deals with a parallel robot for miniaturized assembly applications. The machine is based on the cartesian-parallel scheme and it is equipped with flexure revolute joints, in order to avoid stick-slip phenomena and reach high positioning accuracy (better than I mu m). 
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\nIts workspace volume is a cube of side 30 mm. The three flexible robot arms have internal non-actuated degrees of freedom, which can be passively damped or, if needed, actively controlled; the vibrational behaviour of the arms has been analyzed by means of a Pseudo-Rigid Body model, and the results suggests the adoption of passive damping. 
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\nThe actuation is based on linear cog-free motors; the actuation and control layout of the prototype is discussed.