Colloquia

Samenvatting

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.