Details
| Original language | English |
|---|---|
| Pages (from-to) | 629-634 |
| Number of pages | 6 |
| Journal | International Journal of Precision Engineering and Manufacturing |
| Volume | 12 |
| Issue number | 4 |
| Publication status | Published - 1 Aug 2011 |
| Externally published | Yes |
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.
Keywords
- Low-cost drives, Micro assembly, Miniaturized robot, Parallel robot, Piezomotor
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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In: International Journal of Precision Engineering and Manufacturing, Vol. 12, No. 4, 01.08.2011, p. 629-634.
Research output: Contribution to journal › Article › Research › 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 -