MOPE04
MAX IV Laboratory, Lund University, Lund, Sweden
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MOPE04 |
Dynamically Isotropic Hexapods for High-Performance 6-DOF Manipulation | |
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| Recent advances in synchrotron facilities have led to a growing need for 6-DOF precise manipulation. Hexapods are the most widely used parallel robots which provide 6 DOFs. To obtain high precision and high dynamic performance in hexapods, it is necessary to design them in such a way that low eigen frequencies are avoided (while the eigenf requencies are also functions of the complex 3D geometry of hexapods). Theoretically, maximizing the lowest eigen frequency leads to a condition where multiple eigen frequencies become equal, which is known as (complete or partial) dynamic isotropy. Thus, one may consider a dynamically isotropic hexapod as the optimal design solution, where precision and dynamic performance is a goal. In this work, we analytically address this problem and establish a practical guideline in order to design generalized hexapods with complete dynamic isotropy. The findings are based on the recently defended PhD dissertation by Behrouz Afzali-Far. | ||
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Poster MOPE04 [0.853 MB] | |
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