Design of Asymmetric Parallel Manipulator for Axial-Bending Dynamic Stiffness Analysis. Issue 37 (2022)

• Record Type: Journal Article
• Authors: Torres, Andres; Soliman, Ahmed; Ribeiro, Guilherme; Mahmoudian, Nina; Rastgaar, Mo
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 37(2022)
• Page Start: 288
• Page End: 294
• Publication Date: 2022
• Subjects: material characterization -- frequency response -- 2 degrees of freedom -- dynamic mechanical analyzer -- 5-bar -- mechanism; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.11.199
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents an asymmetric 5-bar parallel manipulator capable of characterizing the dynamic stiffness properties of materials used in robotic joints in 2 degrees of freedom, axial and bending, simultaneously. The end effector is actuated by two stepper motors with linear rails. Two force sensors were added to estimate axial force and moment. Experiments were performed in axial compression, bending, and a mixed axial-bending motion. A spring-mass-spring system was constructed to evaluate the fabricated apparatus for frequency analysis up to 20Hz. The frequency analysis result was accurate when compared to the theoretical response of the system. Axial stiffness estimation had an error of 1.5%, bending stiffness had an error of 3.4%, and mixed-mode had a total error of 1.8%. Future experiments will showcase the versatility of the apparatus and test nonlinear samples.