Precision Prediction Using Interval Exponential Mapping of a Parallel Kinematic Smart Composite Microstructure
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Precision Prediction Using Interval Exponential Mapping of a Parallel Kinematic Smart Composite Microstructure |
| Type de publication | Conference Paper |
| Year of Publication | 2015 |
| Auteurs | Lescano S, Rakotondrabe M, Andreff N |
| Conference Name | 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
| Publisher | IEEE; RSJ; Univ Hamburg; DFG; RA; New Technol Fdn; SICE; KUKA; DJI; Rethink Robot; BOSCH; Chinese Acad Sci, SIAT; Boozhong; Adept; Automatica; HIT; Ascending Technol; OPTOFORCE; DST Robot; BA Syst; Rainbow Robot; SIA; CLEARPATH Robot; Swiss Natl Ctr Compe |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-4799-9994-1 |
| Résumé | In this paper, a method to predict the precision of parallel microstructures made of carbon fibers, polyimide layers and piezoelectric materials is proposed. To this aim, we propose to combine the exponential representation of transformation matrix with intervals to bound the uncertainties in each flexure joint of the microstructures. Based on interval techniques and algorithms, the derived model permits to guarantee a bound on the precision value of the end effector. The method has been demonstrated with a numerical example of parallel microrobot devoted to orient the laser spot towards vocal fold during phonomicrosurgery. This example considers the uncertainties that occur in the compliant joints caused by the fabrication technique. |