TY - GEN
T1 - An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms
AU - Sharifzadeh, Mohammad
AU - Khodambashi, Roozbeh
AU - Aukes, Daniel M.
N1 - Publisher Copyright:
Copyright © 2018 ASME
PY - 2018
Y1 - 2018
N2 - Laminate mechanisms are a reliable concept in producing low-cost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and are more accessible to novices and hobbyists. However, iterating through the design space to come up with the best design for a robot is still a time consuming and rather expensive task and therefore, there is still a need for model-based analysis before manufacturing. Until now, there has been no integrated design and analysis software for laminate robots. This paper addresses some of the issues surrounding laminate analysis by introducing a companion to an existing laminate design tool that automates the generation of dynamic equations and produces simulation results via rendered plots and videos. We have validated the accuracy of the software by comparing the position, velocity and acceleration of the simulated mechanisms with the measurements taken from physical laminate prototypes using a motion capture system.
AB - Laminate mechanisms are a reliable concept in producing low-cost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and are more accessible to novices and hobbyists. However, iterating through the design space to come up with the best design for a robot is still a time consuming and rather expensive task and therefore, there is still a need for model-based analysis before manufacturing. Until now, there has been no integrated design and analysis software for laminate robots. This paper addresses some of the issues surrounding laminate analysis by introducing a companion to an existing laminate design tool that automates the generation of dynamic equations and produces simulation results via rendered plots and videos. We have validated the accuracy of the software by comparing the position, velocity and acceleration of the simulated mechanisms with the measurements taken from physical laminate prototypes using a motion capture system.
UR - http://www.scopus.com/inward/record.url?scp=85057130523&partnerID=8YFLogxK
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U2 - 10.1115/DETC2018-86359
DO - 10.1115/DETC2018-86359
M3 - Conference contribution
AN - SCOPUS:85057130523
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 42nd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
Y2 - 26 August 2018 through 29 August 2018
ER -