Details
| Original language | English |
|---|---|
| Pages (from-to) | 49-52 |
| Number of pages | 4 |
| Journal | CIRP Annals - Manufacturing Technology |
| Volume | 65 |
| Issue number | 1 |
| Publication status | Published - 6 Jan 2016 |
Abstract
The development of flexible and cost-saving handling systems is within the scope of ongoing research. In the present work, a parallel robot is extended with a passive orientation device to enhance its mobility. Additional actuators, which are usually used for active orientation, are deliberately excluded to reduce costs and weight. Passive motions are thus caused by accelerations of the parallel robot in conjunction with the inertia coupling between both structures. This contribution presents methods to connect the control of the orientation device with the overlaid handling task. Validation of the process is done in simulation and experimentally.
Keywords
- Assembly, Handling, Underactuated
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: CIRP Annals - Manufacturing Technology, Vol. 65, No. 1, 06.01.2016, p. 49-52.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - A new method for combining handling systems with passive orientation devices
AU - Borchert, Gunnar
AU - Raatz, Annika
PY - 2016/1/6
Y1 - 2016/1/6
N2 - The development of flexible and cost-saving handling systems is within the scope of ongoing research. In the present work, a parallel robot is extended with a passive orientation device to enhance its mobility. Additional actuators, which are usually used for active orientation, are deliberately excluded to reduce costs and weight. Passive motions are thus caused by accelerations of the parallel robot in conjunction with the inertia coupling between both structures. This contribution presents methods to connect the control of the orientation device with the overlaid handling task. Validation of the process is done in simulation and experimentally.
AB - The development of flexible and cost-saving handling systems is within the scope of ongoing research. In the present work, a parallel robot is extended with a passive orientation device to enhance its mobility. Additional actuators, which are usually used for active orientation, are deliberately excluded to reduce costs and weight. Passive motions are thus caused by accelerations of the parallel robot in conjunction with the inertia coupling between both structures. This contribution presents methods to connect the control of the orientation device with the overlaid handling task. Validation of the process is done in simulation and experimentally.
KW - Assembly
KW - Handling
KW - Underactuated
UR - http://www.scopus.com/inward/record.url?scp=84973563629&partnerID=8YFLogxK
U2 - 10.1016/j.cirp.2016.04.028
DO - 10.1016/j.cirp.2016.04.028
M3 - Article
AN - SCOPUS:84973563629
VL - 65
SP - 49
EP - 52
JO - CIRP Annals - Manufacturing Technology
JF - CIRP Annals - Manufacturing Technology
SN - 0007-8506
IS - 1
ER -