Details
| Original language | English |
|---|---|
| Title of host publication | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
| Publisher | National Taiwan University of Science and Technology |
| Pages | 672-680 |
| Number of pages | 9 |
| ISBN (electronic) | 9789860460988 |
| Publication status | Published - 2015 |
| Event | 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 - Taipei, Taiwan Duration: 25 Oct 2015 → 30 Oct 2015 |
Publication series
| Name | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
|---|
Abstract
An analysis tool is presented to design extension mechanisms that will enhance the motion capability of delta robots by means of enabling additional, rotational degrees of freedom. For this purpose, a tool is shown that is based on a task-oriented decision analysis process for designing such extension mechanisms. This is necessary, since assembly processes have significant effects on the required functionality of the production device. The variety of drive concepts is just one example that has to be considered due to specific kinematics and dynamics which result from additional masses of the power train for each degree of freedom. To counter these issues, general task-oriented system requirements are initially defined. Thereafter, available industrial robots are analyzed to derive deficiencies so that possible design concepts could be worked out. Based on these findings, the framework of the implemented decision process is addressed, that is an analytic hierarchy process, along with exemplary decision criteria to decide in favor of a beneficial overall design. The last component includes the final design process of the extension mechanism where a sensitivity analysis is used for the optimization of the dynamics. Finally, possibilities for future developments are identified to enhance the benefit of the analysis tool. Underlying mathematical calculations are not subject of this contribution.
Keywords
- Decision analysis process, Extension mechanism, Motion capability, Parallel robot
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Arts and Humanities(all)
- History
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2015 IFToMM World Congress Proceedings, IFToMM 2015. National Taiwan University of Science and Technology, 2015. p. 672-680 (2015 IFToMM World Congress Proceedings, IFToMM 2015).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - An analysis process to improve the mobility of a parallel robot for assembly tasks
AU - Borchert, Gunnar
AU - Raatz, Annika
PY - 2015
Y1 - 2015
N2 - An analysis tool is presented to design extension mechanisms that will enhance the motion capability of delta robots by means of enabling additional, rotational degrees of freedom. For this purpose, a tool is shown that is based on a task-oriented decision analysis process for designing such extension mechanisms. This is necessary, since assembly processes have significant effects on the required functionality of the production device. The variety of drive concepts is just one example that has to be considered due to specific kinematics and dynamics which result from additional masses of the power train for each degree of freedom. To counter these issues, general task-oriented system requirements are initially defined. Thereafter, available industrial robots are analyzed to derive deficiencies so that possible design concepts could be worked out. Based on these findings, the framework of the implemented decision process is addressed, that is an analytic hierarchy process, along with exemplary decision criteria to decide in favor of a beneficial overall design. The last component includes the final design process of the extension mechanism where a sensitivity analysis is used for the optimization of the dynamics. Finally, possibilities for future developments are identified to enhance the benefit of the analysis tool. Underlying mathematical calculations are not subject of this contribution.
AB - An analysis tool is presented to design extension mechanisms that will enhance the motion capability of delta robots by means of enabling additional, rotational degrees of freedom. For this purpose, a tool is shown that is based on a task-oriented decision analysis process for designing such extension mechanisms. This is necessary, since assembly processes have significant effects on the required functionality of the production device. The variety of drive concepts is just one example that has to be considered due to specific kinematics and dynamics which result from additional masses of the power train for each degree of freedom. To counter these issues, general task-oriented system requirements are initially defined. Thereafter, available industrial robots are analyzed to derive deficiencies so that possible design concepts could be worked out. Based on these findings, the framework of the implemented decision process is addressed, that is an analytic hierarchy process, along with exemplary decision criteria to decide in favor of a beneficial overall design. The last component includes the final design process of the extension mechanism where a sensitivity analysis is used for the optimization of the dynamics. Finally, possibilities for future developments are identified to enhance the benefit of the analysis tool. Underlying mathematical calculations are not subject of this contribution.
KW - Decision analysis process
KW - Extension mechanism
KW - Motion capability
KW - Parallel robot
UR - http://www.scopus.com/inward/record.url?scp=85019008454&partnerID=8YFLogxK
U2 - 10.6567/IFToMM.14TH.WC.OS3.029
DO - 10.6567/IFToMM.14TH.WC.OS3.029
M3 - Conference contribution
AN - SCOPUS:85019008454
T3 - 2015 IFToMM World Congress Proceedings, IFToMM 2015
SP - 672
EP - 680
BT - 2015 IFToMM World Congress Proceedings, IFToMM 2015
PB - National Taiwan University of Science and Technology
T2 - 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
Y2 - 25 October 2015 through 30 October 2015
ER -