Details
| Originalsprache | Englisch |
|---|---|
| Seiten | 1007-1014 |
| Seitenumfang | 8 |
| Publikationsstatus | Veröffentlicht - 1 Dez. 2004 |
| Extern publiziert | Ja |
| Veranstaltung | 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Salt Lake City, UT, USA / Vereinigte Staaten Dauer: 28 Sept. 2004 → 2 Okt. 2004 |
Konferenz
| Konferenz | 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
|---|---|
| Land/Gebiet | USA / Vereinigte Staaten |
| Ort | Salt Lake City, UT |
| Zeitraum | 28 Sept. 2004 → 2 Okt. 2004 |
Abstract
In this paper a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEM tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.
ASJC Scopus Sachgebiete
- Mathematik (insg.)
- Modellierung und Simulation
- Ingenieurwesen (insg.)
- Maschinenbau
- Informatik (insg.)
- Angewandte Informatik
- Informatik (insg.)
- Computergrafik und computergestütztes Design
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- BibTex
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2004. 1007-1014 Beitrag in 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, UT, USA / Vereinigte Staaten.
Publikation: Konferenzbeitrag › Paper › Forschung › Peer-Review
}
TY - CONF
T1 - High precision compliant parallel robot with an optimized large workspace
AU - Raatz, Annika
AU - Wrege, Jan
AU - Soetebier, Sven
AU - Hesselbach, Jürgen
PY - 2004/12/1
Y1 - 2004/12/1
N2 - In this paper a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEM tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.
AB - In this paper a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEM tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.
KW - Compliant Parallel Structure
KW - Flexure Hinges
KW - High Precision Assembly
KW - Pseudo-Elastic SMA
UR - http://www.scopus.com/inward/record.url?scp=13944282963&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:13944282963
SP - 1007
EP - 1014
T2 - 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Y2 - 28 September 2004 through 2 October 2004
ER -