Inverse kinematic modeling of a coupled flexure hinge mechanism

Ryu, Jae W.; Lee, Sung Q; Gweon, Dae−Gab; Moon, Kiwon

doi:10.1016/s0957-4158(99)00006-9

Cited by 89 publications

(41 citation statements)

References 6 publications

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“…In Ref. [17], Ryu et al proposed an inverse kinematic model and developed the relationship between the output displacement and input voltage for the mechanism designed in Ref. [16].…”

Section: Introductionmentioning

confidence: 99%

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Input coupling analysis and optimal design of a 3-DOF compliant micro-positioning stage

Wang

Zhang

2008

Mechanism and Machine Theory

153

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“…In Ref. [17], Ryu et al proposed an inverse kinematic model and developed the relationship between the output displacement and input voltage for the mechanism designed in Ref. [16].…”

Section: Introductionmentioning

confidence: 99%

“…In order to reduce the effect of the temperature gradient on the compliant mechanism, many micro-positioning stages based on the symmetric compliant parallel manipulators were developed [16][17][18]. Ryu et al [16] developed a xyh micro-motion stage which consist of a monolithic flexure hinge mechanism with three piezoelectric actuators.…”

Section: Introductionmentioning

confidence: 99%

Input coupling analysis and optimal design of a 3-DOF compliant micro-positioning stage

Wang

Zhang

2008

Mechanism and Machine Theory

153

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“…Ryu et al [21] developed a micro-motion stage with three degrees-of-freedom. The X Y θ stage uses three piezoelectric actuators and a monolithic flexure hinge mechanism that is designed to provide large θ motion.…”

Section: State Of the Artmentioning

confidence: 99%

PKM Mechatronic Clamping Adaptive Device

Borboni

Aggogeri

Merlo

et al. 2015

International Journal of Advanced Robotic Systems

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This study proposes a novel adaptive fixturing device based on active clamping systems for smart micropositioning of thin-walled precision parts. The modular architecture and the structure flexibility make the system suitable for various industrial applications. The proposed device is realized as a Parallel Kinematic Machine (PKM), opportunely sensorized and controlled, able to perform automatic error-free workpiece clamping procedures, drastically reducing the overall fixturing set-up time. The paper describes the kinematics and dynamics of this mechatronic system. A first campaign of experimental trails has been carried out on the prototype, obtaining promising results.

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“…특히 나노 분야에 이용되는 계측 시스템의 경우, 위치 결정용 초정밀 스테이지의 개발은 필수적인 요건이라 할 수 있으며 이에 따라 초정밀 스테이지의 성능 조건을 만족시키기 위하여 다양한 구동기와 이동 가이드의 조합이 적용되어 왔다. 그 가운데에서도 빠른 응답 성능과 높은 분해능을 지닌 압전 소자(piezoelectric actuator)와 탄성 변형을 통하여 부드럽고 연속적인 운동을 제 공할 수 있는 유연 힌지(flexure hinge)의 조합이 널리 사용되 고 있다 (2,3) .…”

Section: 서 론unclassified

A Robust Control System Design for Compensating Hysteresis of a Piezoelectric Actuator-based Actuation Unit

Kim

Kim²

2012

Journal of manufacturing engineering & technology

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In this paper, we presents a robust control system design for compensating hysteresis of a piezoelectric actuator-based actuation unit. First, the dynamics between the input voltage and the output displacement of the actuation unit are unravelled via a non-parametric system identification method. From the dynamic characteristics of those experimental transfer functions, a parametric model is then derived, whose dynamics match those of the non-parametric ones under various conditions on input voltages. A robust controller is constructed on the basis of this parametric model in order not only to effectively compensate the hysteresis of the actuation unit but also to guarantee the robust stability. Extensive experiments show that the proposed robust control system successfully mitigate the effect of the hysteresis and improve the tracking capability of the actuation unit.

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Inverse kinematic modeling of a coupled flexure hinge mechanism

Cited by 89 publications

References 6 publications

Input coupling analysis and optimal design of a 3-DOF compliant micro-positioning stage

Input coupling analysis and optimal design of a 3-DOF compliant micro-positioning stage

PKM Mechatronic Clamping Adaptive Device

A Robust Control System Design for Compensating Hysteresis of a Piezoelectric Actuator-based Actuation Unit

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