Details
| Original language | English |
|---|---|
| Title of host publication | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
| Publisher | National Taiwan University of Science and Technology |
| Pages | 465-469 |
| Number of pages | 5 |
| 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
This paper is concerned with the development of a flexible and cost saving production system. In the present study, the mobile platform of a delta parallel robot is extended with an underactuated mechanism with three passive rotational degrees. In doing so, the manipulability of the system is increased without the need for additional motors. The passive joints are actuated by means of inertia moments, which result from the acceleration of the mobile platform. After stating what motivated the concept, different well-known underactuated mechanisms are presented. This is followed by a brief description of the developed underactuated wrist mechanism, which features torque-free connections between the axes with respect to the vacuum supply and the encoder coupling. A possible classification of the process design is then presented along with a schematic example of a pick-and-place task. The classification includes single and continuous processes. The latter is further split into an online and offline control strategy. The article closes with the identification of future developments.
Keywords
- Assembly, Delta robot, Extension mechanism, Orientation, Underactuated mechanism
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. 465-469 (2015 IFToMM World Congress Proceedings, IFToMM 2015).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - An underactuated mechanism for assembly processes
AU - Borchert, Gunnar
AU - Raatz, Annika
PY - 2015
Y1 - 2015
N2 - This paper is concerned with the development of a flexible and cost saving production system. In the present study, the mobile platform of a delta parallel robot is extended with an underactuated mechanism with three passive rotational degrees. In doing so, the manipulability of the system is increased without the need for additional motors. The passive joints are actuated by means of inertia moments, which result from the acceleration of the mobile platform. After stating what motivated the concept, different well-known underactuated mechanisms are presented. This is followed by a brief description of the developed underactuated wrist mechanism, which features torque-free connections between the axes with respect to the vacuum supply and the encoder coupling. A possible classification of the process design is then presented along with a schematic example of a pick-and-place task. The classification includes single and continuous processes. The latter is further split into an online and offline control strategy. The article closes with the identification of future developments.
AB - This paper is concerned with the development of a flexible and cost saving production system. In the present study, the mobile platform of a delta parallel robot is extended with an underactuated mechanism with three passive rotational degrees. In doing so, the manipulability of the system is increased without the need for additional motors. The passive joints are actuated by means of inertia moments, which result from the acceleration of the mobile platform. After stating what motivated the concept, different well-known underactuated mechanisms are presented. This is followed by a brief description of the developed underactuated wrist mechanism, which features torque-free connections between the axes with respect to the vacuum supply and the encoder coupling. A possible classification of the process design is then presented along with a schematic example of a pick-and-place task. The classification includes single and continuous processes. The latter is further split into an online and offline control strategy. The article closes with the identification of future developments.
KW - Assembly
KW - Delta robot
KW - Extension mechanism
KW - Orientation
KW - Underactuated mechanism
UR - http://www.scopus.com/inward/record.url?scp=85018994458&partnerID=8YFLogxK
U2 - 10.6567/IFToMM.14TH.WC.OS13.088
DO - 10.6567/IFToMM.14TH.WC.OS13.088
M3 - Conference contribution
AN - SCOPUS:85018994458
T3 - 2015 IFToMM World Congress Proceedings, IFToMM 2015
SP - 465
EP - 469
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 -