Colloquium announcement
Faculty of Engineering Technology
Department Applied Mechanics & Data Analysis (MS3)
Master programme Mechanical Engineering
As part of his / her master assignment
Ploeg, M.S. van der (Maurice)
will hold a speech entitled:
Improved range of motion of a redundantly actuated 3-DOF planar manipulator with flexure joints
| Date | 24-08-2023 |
| Time | 13:00 |
| Room | OH116 |
Summary
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.
Assessment committee |
chair Signature d.d. |
|
| Dr. Ir. R.G.K.M. Aarts Dr. Ir. J.P. Schilder Dr. Ir. M. Nijenhuis |
(chair) (internal member) (external member) |
|