Details
| Original language | English |
|---|---|
| Pages (from-to) | 280-285 |
| Number of pages | 6 |
| Journal | Procedia CIRP |
| Volume | 103 |
| Early online date | 20 Oct 2021 |
| Publication status | Published - 2021 |
| Event | 9th CIRP Global Web Conference on Sustainable, Resilient, and Agile Manufacturing and Service Operations: Lessons from COVID-19, CIRPe 2021 - Virtual, Online Duration: 26 Oct 2021 → 28 Oct 2021 |
Abstract
Automation is ubiquitous in today's industrial landscape and is finding its way into more and more highly specialised applications - also in the field of cryopreservation. The extreme work conditions in cryobanks place exceptionally high demands on the mechanical and electronic components used. The preservation and storage of biological samples take place at temperatures between -130 °C and -196 °C using liquid nitrogen as a cooling medium. The bearings and joints used in industrial parallel kinematic robots (for example, ball bearings or Cardan joints) jam at these ambient parameters and are unsuitable for an application within a cryobank. We, therefore, develop methods and technologies to enable fully automated handling of biological samples under cryogenic working conditions. The basis for this is a parallel kinematic robot structure that allows the drives to be placed outside the cold environment. In contrast, the rest of the robot structure can be actuated in a cryogenic container. In this context, the passive joints for this parallel robot are designed as additively manufactured monolithic flexure hinges. This paper presents the design, simulation, and construction of the parallel robot and focuses on the flexure hinges fabricated using the selective laser melting process (SLM). We describe the design of the flexure hinges, their intended use in the robot, and the experimental setup used for their validation. We also compare the operating parameters recorded in experiments (such as bending angle, bending moment) with the data obtained in finite element method simulations (FEM). In addition, we describe the geometric constraints and deviations of the manufactured joints due to the manufacturing process.
Keywords
- compliant mechanisms, cryobank, cryopreservation, flexure hinges, parallel robots
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: Procedia CIRP, Vol. 103, 2021, p. 280-285.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Design of a parallel robot with additively manufactured flexure hinges for a cryogenic work environment
AU - Jahn, Philipp
AU - Ihmig, Frank
AU - Raatz, Annika
N1 - Funding Information: The authors acknowledge the support by the Deutsche Forschungsgemeinschaft under project number 349906175 (cryogenic handling)
PY - 2021
Y1 - 2021
N2 - Automation is ubiquitous in today's industrial landscape and is finding its way into more and more highly specialised applications - also in the field of cryopreservation. The extreme work conditions in cryobanks place exceptionally high demands on the mechanical and electronic components used. The preservation and storage of biological samples take place at temperatures between -130 °C and -196 °C using liquid nitrogen as a cooling medium. The bearings and joints used in industrial parallel kinematic robots (for example, ball bearings or Cardan joints) jam at these ambient parameters and are unsuitable for an application within a cryobank. We, therefore, develop methods and technologies to enable fully automated handling of biological samples under cryogenic working conditions. The basis for this is a parallel kinematic robot structure that allows the drives to be placed outside the cold environment. In contrast, the rest of the robot structure can be actuated in a cryogenic container. In this context, the passive joints for this parallel robot are designed as additively manufactured monolithic flexure hinges. This paper presents the design, simulation, and construction of the parallel robot and focuses on the flexure hinges fabricated using the selective laser melting process (SLM). We describe the design of the flexure hinges, their intended use in the robot, and the experimental setup used for their validation. We also compare the operating parameters recorded in experiments (such as bending angle, bending moment) with the data obtained in finite element method simulations (FEM). In addition, we describe the geometric constraints and deviations of the manufactured joints due to the manufacturing process.
AB - Automation is ubiquitous in today's industrial landscape and is finding its way into more and more highly specialised applications - also in the field of cryopreservation. The extreme work conditions in cryobanks place exceptionally high demands on the mechanical and electronic components used. The preservation and storage of biological samples take place at temperatures between -130 °C and -196 °C using liquid nitrogen as a cooling medium. The bearings and joints used in industrial parallel kinematic robots (for example, ball bearings or Cardan joints) jam at these ambient parameters and are unsuitable for an application within a cryobank. We, therefore, develop methods and technologies to enable fully automated handling of biological samples under cryogenic working conditions. The basis for this is a parallel kinematic robot structure that allows the drives to be placed outside the cold environment. In contrast, the rest of the robot structure can be actuated in a cryogenic container. In this context, the passive joints for this parallel robot are designed as additively manufactured monolithic flexure hinges. This paper presents the design, simulation, and construction of the parallel robot and focuses on the flexure hinges fabricated using the selective laser melting process (SLM). We describe the design of the flexure hinges, their intended use in the robot, and the experimental setup used for their validation. We also compare the operating parameters recorded in experiments (such as bending angle, bending moment) with the data obtained in finite element method simulations (FEM). In addition, we describe the geometric constraints and deviations of the manufactured joints due to the manufacturing process.
KW - compliant mechanisms
KW - cryobank
KW - cryopreservation
KW - flexure hinges
KW - parallel robots
UR - http://www.scopus.com/inward/record.url?scp=85118641138&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2021.10.045
DO - 10.1016/j.procir.2021.10.045
M3 - Conference article
AN - SCOPUS:85118641138
VL - 103
SP - 280
EP - 285
JO - Procedia CIRP
JF - Procedia CIRP
SN - 2212-8271
T2 - 9th CIRP Global Web Conference on Sustainable, Resilient, and Agile Manufacturing and Service Operations: Lessons from COVID-19, CIRPe 2021
Y2 - 26 October 2021 through 28 October 2021
ER -