About the accuracy of fast moving robotic devices based on compliant mechanisms

Abstract

This paper deals with small and micro - size robotic devices with strict requirements on the accuracy of prescribed motions/trajectories. The kinematic mechanisms of such positioning devices are usually made as compact elastic structures and the key problem is to guarantee the desired accuracy especially in high frequency modes of operation. The deflection effects and influence of different stiffness and damping coefficients in particular d.o.f. are analysed. The dynamics of a case system is simulated and performance characteristics are discussed.