Experimental platform for performance tests of compliant robotic devices

Abstract

The design process of mechatronic devices is usually performed with Model-Based Design (MBD) methods. This approach enables obtaining properties and functional behaviour of designed devices at lower costs of prototyping. Building prototypes is usually the last operation before the real manufacture of products and includes several experimental tests for parameter verification. As prototype building is the most expensive part of the design process, the Hardware-in-the-loop (HIL) and Software-in-the-loop (SIL) simulation methods are strongly recommended to decrease final production cost of designed devices. This paper deals with designing a specific test bed for performance quality evaluation of compliant robotic devices. The proposed equipment enables parameter verification and evaluation of differences between mathematical models of flexible parts and their real characteristics. Thus, the structures and parameters of the compliant devices of interest can be optimally designed. The paper also discusses the utilization mode of the proposed testing and performance evaluation equipment for a designed micro-gripper.