Details
Originalsprache | Englisch |
---|---|
Seiten (von - bis) | 629-634 |
Seitenumfang | 6 |
Fachzeitschrift | International Journal of Precision Engineering and Manufacturing |
Jahrgang | 12 |
Ausgabenummer | 4 |
Publikationsstatus | Veröffentlicht - 1 Aug. 2011 |
Extern publiziert | Ja |
Abstract
This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 μm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Maschinenbau
- Ingenieurwesen (insg.)
- Wirtschaftsingenieurwesen und Fertigungstechnik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
in: International Journal of Precision Engineering and Manufacturing, Jahrgang 12, Nr. 4, 01.08.2011, S. 629-634.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - APIS
T2 - A miniaturized robot for precision assembly with low-cost piezoelectric motors
AU - Borchert, Gunnar
AU - Burisch, Arne
AU - Raatz, Annika
PY - 2011/8/1
Y1 - 2011/8/1
N2 - This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 μm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.
AB - This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 μm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.
KW - Low-cost drives
KW - Micro assembly
KW - Miniaturized robot
KW - Parallel robot
KW - Piezomotor
UR - http://www.scopus.com/inward/record.url?scp=79961039563&partnerID=8YFLogxK
U2 - 10.1007/s12541-011-0081-0
DO - 10.1007/s12541-011-0081-0
M3 - Article
AN - SCOPUS:79961039563
VL - 12
SP - 629
EP - 634
JO - International Journal of Precision Engineering and Manufacturing
JF - International Journal of Precision Engineering and Manufacturing
SN - 1229-8557
IS - 4
ER -