Iterative model-based design of the parallel robot, TRIPLANAR

Abstract

The TRIPLANAR is a novel parallel robot with six degrees of freedom for highly precise measurement- and process tasks. Its prototype was developed in just 12 months by means of the mechatronic composition. This design methodology comprises analysis and synthesis of the entire system, including mechanics, actuator system, and information processing in the computer before the constructive design is started. The information processing was designed by means of a simplified model and tested with a complex model. An experimental modal analysis of the real system served to identify the parameters of the complex model. In order to increase the limited motive forces of the TRLPLANAR novel drives, asynchronous planar motors are being developed.