University of Twente Student Theses
Improved Range of Motion of a Redundantly Actuated 3-DOF Planar Manipulator with Flexure Joints
Ploeg, Maurice van der (2023) Improved Range of Motion of a Redundantly Actuated 3-DOF Planar Manipulator with Flexure Joints.
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| Abstract: | This study focuses on improving the work range of a redundantly actuated 3-DOF planar manipulator with flexure joints. The redesign is focused on the properties and limitations specific for a parallel manipulator with flexure joints. The redesign process involves a reconsideration of the joints and topology of the system. The chosen configuration is optimized using a multi objective optimization process in MATLAB in order to find the best compromise. This study also provides the kinematic and dynamic analysis of the system with a solution for redundant actuation and sensing. This information can be used in further research to implement the suggested controller. The found optimum achieves a larger workspace compared to the previous design, However the desired dynamic properties of the system are not reached. A physical model of the system is made to be able to perform experimental testing in the future. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 52 mechanical engineering |
| Programme: | Mechanical Engineering MSc (60439) |
| Link to this item: | https://purl.utwente.nl/essays/96886 |
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