Jacobian-based natural frequency analysis of parallel manipulators

The dynamic performance of a parallel manipulator is often limited by its natural frequencies. These frequencies are a result of the controlled actuator stiffness and the mechanical design. Typically, only the lowest natural frequencies are of interest. However, existing methods to analyze natural frequencies of parallel manipulators with...

Parallel manipulators with two end-effectors: Getting a grip on Jacobian-based stiffness analysis

Robots that are developed for applications which require a high stiffness-over-inertia ratio, such as pick-and-place robots, machining robots, or haptic devices, are often based on parallel manipulators. Parallel manipulators connect an end-effector to an inertial base using multiple serial kinematic chains. This architecture enables the design...

Energy Based Error Formulation for Optimizing Compliant Joint Parallel Manipulators

The conversion of a Rigid Body Parallel Manipulator to a Compliant Joint Parallel Manipulator introduces compliance in the system. The configuration of the compliant manipulator will differ from the configuration described by the rigid-body kinematics due to the off-axis compliance, and hence off-axis deflections, of the Compliant Joints. In...

Design, Integration and Verification of the Delfi-n3Xt Reaction Wheel System

To improve the pointing capabilities of nanosatellites a fast response attitude control system is required. Reaction wheels are an effective solution and rely on the simple principle of conservation of angular momentum. Also they can be developed within the stringent budgets of nanosatellites with current technologies. The Delfi-n3Xt satellite...