A prototype 3-DOF micro parallel robot actuated by base-integrated HASEL actuators is designed and modeled with port-Hamiltonian dynamics plus kinematics, parameters identified from laser-tracked experiments using nonlinear grey-box estimation.
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Design and Modeling of a HASEL Actuator-Based Micro Parallel Robot
A prototype 3-DOF micro parallel robot actuated by base-integrated HASEL actuators is designed and modeled with port-Hamiltonian dynamics plus kinematics, parameters identified from laser-tracked experiments using nonlinear grey-box estimation.