Title :
Iterative model-based design of the parallel robot, TRIPLANAR
Author :
Lückel, J. ; Moritz, W. ; Kuhlbusch, W. ; Toepper, St ; Scharfeld, F. ; Maisser, P. ; Freudenberg, H. ; Kallenbach, E. ; Zentner, J. ; Saffert, E.
Author_Institution :
Paderborn Univ., Germany
Abstract :
The TRIPLANAR is a novel parallel robot with six degrees of freedom for highly precise measurement- and process tasks. Its prototype was developed in just 12 months by means of the mechatronic composition. This design methodology comprises analysis and synthesis of the entire system, including mechanics, actuator system, and information processing in the computer before the constructive design is started. The information processing was designed by means of a simplified model and tested with a complex model. An experimental modal analysis of the real system served to identify the parameters of the complex model. In order to increase the limited motive forces of the TRLPLANAR novel drives, asynchronous planar motors are being developed
Keywords :
iterative methods; mechatronics; parameter estimation; robots; TRIPLANAR; actuator system; asynchronous planar motors; constructive design; experimental modal analysis; information processing; iterative model-based design; measurement tasks; mechanics; mechatronic composition; parallel robot; process tasks; system analysis; system synthesis; Actuators; Design methodology; Information analysis; Information processing; Mechatronics; Modal analysis; Parallel robots; Process design; Prototypes; Testing;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936443
