Details
| Original language | English |
|---|---|
| Pages | 1007-1014 |
| Number of pages | 8 |
| Publication status | Published - 1 Dec 2004 |
| Externally published | Yes |
| Event | 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Salt Lake City, UT, United States Duration: 28 Sept 2004 → 2 Oct 2004 |
Conference
| Conference | 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
|---|---|
| Country/Territory | United States |
| City | Salt Lake City, UT |
| Period | 28 Sept 2004 → 2 Oct 2004 |
Abstract
In this paper 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 FEM 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 Parallel Structure, Flexure Hinges, High Precision Assembly, Pseudo-Elastic SMA
ASJC Scopus subject areas
- Mathematics(all)
- Modelling and Simulation
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
Cite this
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2004. 1007-1014 Paper presented at 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, UT, United States.
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - High precision compliant parallel robot with an optimized large workspace
AU - Raatz, Annika
AU - Wrege, Jan
AU - Soetebier, Sven
AU - Hesselbach, Jürgen
PY - 2004/12/1
Y1 - 2004/12/1
N2 - In this paper 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 FEM 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 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 FEM 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 Parallel Structure
KW - Flexure Hinges
KW - High Precision Assembly
KW - Pseudo-Elastic SMA
UR - http://www.scopus.com/inward/record.url?scp=13944282963&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:13944282963
SP - 1007
EP - 1014
T2 - 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Y2 - 28 September 2004 through 2 October 2004
ER -