Details
| Original language | English |
|---|---|
| Title of host publication | Precision Assembly Technologies for Mini and Micro Products |
| Subtitle of host publication | Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006) |
| Pages | 83-92 |
| Number of pages | 10 |
| Publication status | Published - 5 Oct 2006 |
| Externally published | Yes |
Publication series
| Name | IFIP International Federation for Information Processing |
|---|---|
| Volume | 198 |
| ISSN (Print) | 1571-5736 |
Abstract
In this paper the development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEA tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.
Keywords
- Compliant Mechanism, Flexure hinges, High Precision Robotics, Pseudo-elastic SMA
ASJC Scopus subject areas
- Decision Sciences(all)
- Information Systems and Management
Cite this
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Precision Assembly Technologies for Mini and Micro Products: Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006). 2006. p. 83-92 (IFIP International Federation for Information Processing; Vol. 198).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Compliant parallel robots
T2 - Development and performance
AU - Raatz, Annika
AU - Wrege, Jan
AU - Burisch, Arne
AU - Hesselbach, Jürgen
PY - 2006/10/5
Y1 - 2006/10/5
N2 - In this paper the development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEA tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.
AB - In this paper the development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEA tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.
KW - Compliant Mechanism
KW - Flexure hinges
KW - High Precision Robotics
KW - Pseudo-elastic SMA
UR - http://www.scopus.com/inward/record.url?scp=33749173168&partnerID=8YFLogxK
U2 - 10.1007/0-387-31277-3_9
DO - 10.1007/0-387-31277-3_9
M3 - Contribution to book/anthology
AN - SCOPUS:33749173168
SN - 0387312765
SN - 9780387312767
T3 - IFIP International Federation for Information Processing
SP - 83
EP - 92
BT - Precision Assembly Technologies for Mini and Micro Products
ER -