PZT-actuated compliant locking device
Martin Tschiersky (University of Twente)
Giovanni Berselli (University of Genova)
J.L. Herder (TU Delft - Mechatronic Systems Design, TU Delft - Precision and Microsystems Engineering)
Dannis M. Brouwer (University of Twente)
Stefano Stramigioli (University of Twente)
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Abstract
In this paper, a novel design of a fully compliant locking device is presented, for possible application in robotic actuation systems. The synthesis method based on a rigid linkage mechanism is explained, a parametrization scheme is proposed, and an optimization procedure is conducted using kinetostatic flexible multi-body analysis in conjunction with global optimization techniques. The performance of the optimized locking device design is validated via numerical simulations.
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