Design and Dynamic Modeling of a 3-RPS Compliant Parallel Robot Driven by Voice Coil Actuators.

Chuchao Wang, Shizhou Lu, Caiyi Zhang, Jun Gao, Bin Zhang, Shu Wang

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Article in Micromachines, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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6 authors.

Chuchao WangSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.ORCID 0000-0002-5410-0221

Shizhou LuSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.

Caiyi ZhangSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.

Jun GaoSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.

Bin ZhangSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.ORCID 0000-0002-5976-2806

Shu WangSchool of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.

Funding

National Natural Science Foundation of China Grant NO. 51805298Natural Science Foundation of Shandong Province ZR2019PEE015

6 · The paper itself

Abstract

In order to increase the driving force of the voice coil actuator while reducing its size and mass, the structural parameters of the coil and magnet in the actuator are optimized by combing Biot-Savart law with Lagrangian interpolation. A 30 mm × 30 mm × 42 mm robot based on a 3-RPS parallel mechanism driven by voice coil actuators is designed. The Lagrangian dynamic equation of the robot is established, and the mapping relationship between the driving force and the end pose is explored. The results of dynamic analysis are simulated and verified by the ADAMS software. The mapping relationship between the input current and the end pose is concluded by taking the driving force as the intermediate variable. The robot can bear a load of 10 g. The maximum axial displacement of the robot can reach 9 mm, and the maximum pitch angle and return angle can reach 40 and 35 degrees, respectively. The robot can accomplish forward movement through vibration, and the maximum average velocity can reach 4.1 mm/s.

Indexed as

3-RPScompliant robotdynamic modelparallel mechanismvoice coil actuator

Identifiers

PMID34945291

DOI10.3390/mi12121442

PMCPMC8708717

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