Dynamic Modeling of Micro Elastic Robot in Micro Positioning Application

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Hassani, Hanif | 2011

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41761 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Zohoor, Hassan; Sohrabpour, Saeid
Abstract:
In this work, we want to gain and analyze the dynamic equations of an open four bar mechanism with two flexible links and three flexible hinges. In continue, one of the applications of a 3-RRR mechanism has been mentioned and dynamic equations and angles behavior have been analyzed. The effect of hinge stiffnesses and their sequence has been investigated by using Hamilton principle. In addition, The behavior of the mechanism with flexible links has compared to the mechanism with non-flexible. At last, the results have been validated by ADAMS software.
Keywords:
Dynamic Modeling ; Flexible Robot ; Micro Robot ; Flexible Hinge ; Elastic Micro Robot

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