Details
| Original language | English |
|---|---|
| Title of host publication | Microrobotics and Microassembly III |
| Subtitle of host publication | 29 - 30 October 2001, Newton, USA |
| Place of Publication | Bellingham |
| Publisher | SPIE |
| Pages | 143-150 |
| Number of pages | 8 |
| ISBN (print) | 0-8194-4296-8 |
| Publication status | Published - 8 Oct 2001 |
| Externally published | Yes |
| Event | Microrobotics and Microassembly III - Newton, MA, United States Duration: 29 Oct 2001 → 30 Oct 2001 |
Publication series
| Name | Proceedings of SPIE - The International Society for Optical Engineering |
|---|---|
| Publisher | SPIE |
| Volume | 4568 |
| ISSN (Print) | 0277-786X |
Abstract
In this paper a patented parallel structure will be presented in which conventional bearings are replaced by flexure hinges made of pseudo-elastic shape memory alloy. The robot has six degrees of freedom and was developed for micro assembly tasks. Laboratory tests made with the robot using conventional bearings have shown that the repeatability was only a couple of 1/100 mm instead of the theoretical resolution of the platform of < 1 μm. Especially the slip-stick effects of the bearings decreased the positional accuracy. Because flexure hinges gain their mobility only by a deformation of matter, no backlash, friction and slip-stick-effects exist in flexure hinges. For this reason the repeatability of robots can be increased by using flexure hinges. Joints with different degrees of freedom had to be replaced in the structure. This has been done by a combination of flexure hinges with one rotational degree of freedom. FEM simulations for different designs of the hinges have been made to calculate the possible maximal angular deflections. The assumed maximal deflection of 20° of the hinges restricts the workspace of the robot to 28×28 mm with no additional rotation of the working platform. The deviations between the kinematic behavior of the compliant parallel mechanism and its rigid body model can be simulated with the FEM.
Keywords
- Compliant mechanism, Flexure hinges, High precision robots, Micro assembly, Parallel structure, Pseudo-elastic single crystal CuAlNiFe
ASJC Scopus subject areas
- Materials Science(all)
- Electronic, Optical and Magnetic Materials
- Physics and Astronomy(all)
- Condensed Matter Physics
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Applied Mathematics
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
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Microrobotics and Microassembly III: 29 - 30 October 2001, Newton, USA. Bellingham: SPIE, 2001. p. 143-150 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 4568).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Compliant parallel robot with 6 DOF
AU - Hesselbach, Jürgen
AU - Raatz, Annika
PY - 2001/10/8
Y1 - 2001/10/8
N2 - In this paper a patented parallel structure will be presented in which conventional bearings are replaced by flexure hinges made of pseudo-elastic shape memory alloy. The robot has six degrees of freedom and was developed for micro assembly tasks. Laboratory tests made with the robot using conventional bearings have shown that the repeatability was only a couple of 1/100 mm instead of the theoretical resolution of the platform of < 1 μm. Especially the slip-stick effects of the bearings decreased the positional accuracy. Because flexure hinges gain their mobility only by a deformation of matter, no backlash, friction and slip-stick-effects exist in flexure hinges. For this reason the repeatability of robots can be increased by using flexure hinges. Joints with different degrees of freedom had to be replaced in the structure. This has been done by a combination of flexure hinges with one rotational degree of freedom. FEM simulations for different designs of the hinges have been made to calculate the possible maximal angular deflections. The assumed maximal deflection of 20° of the hinges restricts the workspace of the robot to 28×28 mm with no additional rotation of the working platform. The deviations between the kinematic behavior of the compliant parallel mechanism and its rigid body model can be simulated with the FEM.
AB - In this paper a patented parallel structure will be presented in which conventional bearings are replaced by flexure hinges made of pseudo-elastic shape memory alloy. The robot has six degrees of freedom and was developed for micro assembly tasks. Laboratory tests made with the robot using conventional bearings have shown that the repeatability was only a couple of 1/100 mm instead of the theoretical resolution of the platform of < 1 μm. Especially the slip-stick effects of the bearings decreased the positional accuracy. Because flexure hinges gain their mobility only by a deformation of matter, no backlash, friction and slip-stick-effects exist in flexure hinges. For this reason the repeatability of robots can be increased by using flexure hinges. Joints with different degrees of freedom had to be replaced in the structure. This has been done by a combination of flexure hinges with one rotational degree of freedom. FEM simulations for different designs of the hinges have been made to calculate the possible maximal angular deflections. The assumed maximal deflection of 20° of the hinges restricts the workspace of the robot to 28×28 mm with no additional rotation of the working platform. The deviations between the kinematic behavior of the compliant parallel mechanism and its rigid body model can be simulated with the FEM.
KW - Compliant mechanism
KW - Flexure hinges
KW - High precision robots
KW - Micro assembly
KW - Parallel structure
KW - Pseudo-elastic single crystal CuAlNiFe
UR - http://www.scopus.com/inward/record.url?scp=0035764029&partnerID=8YFLogxK
U2 - 10.1117/12.444121
DO - 10.1117/12.444121
M3 - Conference contribution
AN - SCOPUS:0035764029
SN - 0-8194-4296-8
T3 - Proceedings of SPIE - The International Society for Optical Engineering
SP - 143
EP - 150
BT - Microrobotics and Microassembly III
PB - SPIE
CY - Bellingham
T2 - Microrobotics and Microassembly III
Y2 - 29 October 2001 through 30 October 2001
ER -