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2006
Conference Paper
Titel
The 3rd generation of an actuator-sensor-unit for tripod structures
Alternative
Die 3. Generation der Aktor-Sensor-Einheit zur Torsionskompensation
Abstract
One drawback of x,y,z-tripod structures is the torsional load in the three struts of the kinematic that causes deformations and leads to bad dynamic behavior. The actuator-sensor-units, which are located between the end effector and the struts, can compensate these deformations. After two stages of prototypes the 3rd design will be presented. The actuator-sensor-unit is based on piezo stack actuators. The piezo actuators are arranged in a differential setup that guarantees, independently from the disturbance load direction a reversal operation mode with the same performance. Using an electromechanical analogy the authors were able to integrate the piezo actuators in mechanical models and to calculate the component parameters: the free twisted angle and the blocking torsional moment. The mechanical model is characterized by introducing several coefficients.