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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.25337 |
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| _version_ | 1866911628086214656 |
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| author | Feregrino, Agustin Cisneros, Nelson Lefèvre, Alexis Wu, Yongxin Gorrec, Yann Le |
| author_facet | Feregrino, Agustin Cisneros, Nelson Lefèvre, Alexis Wu, Yongxin Gorrec, Yann Le |
| contents | This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators. Each soft actuator provides the prismatic motion of an individual limb, while a compliant interface to the moving platform functions as a spherical joint. A prototype incorporating three base-integrated HASEL actuators was fabricated, and the platform motion was measured using an XY laser-tracking system. For control purposes, a port-Hamiltonian (PH) model, combined with the mechanism's forward kinematics (FKM), is developed to capture the robot's nonlinear dynamic behavior, whereas the inverse kinematics (IKM) is employed to estimate the required actuator displacements. Model parameters were identified using nonlinear grey-box (NLGB) estimation, yielding a compact and control-oriented representation suitable for subsequent controller design. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_25337 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design and Modeling of a HASEL Actuator-Based Micro Parallel Robot Feregrino, Agustin Cisneros, Nelson Lefèvre, Alexis Wu, Yongxin Gorrec, Yann Le Optimization and Control This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators. Each soft actuator provides the prismatic motion of an individual limb, while a compliant interface to the moving platform functions as a spherical joint. A prototype incorporating three base-integrated HASEL actuators was fabricated, and the platform motion was measured using an XY laser-tracking system. For control purposes, a port-Hamiltonian (PH) model, combined with the mechanism's forward kinematics (FKM), is developed to capture the robot's nonlinear dynamic behavior, whereas the inverse kinematics (IKM) is employed to estimate the required actuator displacements. Model parameters were identified using nonlinear grey-box (NLGB) estimation, yielding a compact and control-oriented representation suitable for subsequent controller design. |
| title | Design and Modeling of a HASEL Actuator-Based Micro Parallel Robot |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2604.25337 |