Details
| Original language | English |
|---|---|
| Pages (from-to) | 319-328 |
| Number of pages | 10 |
| Journal | Assembly automation |
| Volume | 31 |
| Issue number | 4 |
| Publication status | Published - 27 Sept 2011 |
| Externally published | Yes |
Abstract
Purpose - Economic, flexible and efficient micro production needs new miniaturized automation equipment (desktop factories). Micro assembly processes make demands on precision of miniaturized robots used in desktop factories and the driving concepts, as well as miniaturized machine elements. The purpose of this paper is to investigate miniaturized drives using micro harmonic drive gears, which are promising driving concepts. Design/methodology/approach - The analysis of the miniaturized precision robot Parvus (using micro harmonic drive gears) shows a good repeatability but also room for improvement concerning the path accuracy. Thereby the transmission error of the micro gears is identified as main disturbing influence concerning the robot's precision characteristics. Owing to the size reduction of the micro harmonic drive gear and the slightly different working principle compared to larger harmonic drive gears, the transmission error are more pronounced. Therefore, it is necessary to discuss approaches to compensate for this effect. Findings - A very promising approach is the use of a simplified model of the kinematic error within the robot control to compensate for this disturbing effect. Measurement data of the transmission error is mathematically transformed into the frequency domain and filtered to the most important frequency modes of the function. These modes are used to build up a simplified mathematic model of the gear transmission error. A final test using this model as compensation function demonstrates that it is possible to reduce the transmission error of the micro gears by more than 50 percent. Originality/value - The paper presents the first investigation into compensation of the transmission error of micro harmonic drive gears.
Keywords
- Compensation, Desktop factory, Harmonics, Kinematics, Micro gears, Miniaturization, Precision robot, Transmission error
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: Assembly automation, Vol. 31, No. 4, 27.09.2011, p. 319-328.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Investigation and strategies for precision of miniaturized robots with micro gears
AU - Burisch, Arne
AU - Raatz, Annika
PY - 2011/9/27
Y1 - 2011/9/27
N2 - Purpose - Economic, flexible and efficient micro production needs new miniaturized automation equipment (desktop factories). Micro assembly processes make demands on precision of miniaturized robots used in desktop factories and the driving concepts, as well as miniaturized machine elements. The purpose of this paper is to investigate miniaturized drives using micro harmonic drive gears, which are promising driving concepts. Design/methodology/approach - The analysis of the miniaturized precision robot Parvus (using micro harmonic drive gears) shows a good repeatability but also room for improvement concerning the path accuracy. Thereby the transmission error of the micro gears is identified as main disturbing influence concerning the robot's precision characteristics. Owing to the size reduction of the micro harmonic drive gear and the slightly different working principle compared to larger harmonic drive gears, the transmission error are more pronounced. Therefore, it is necessary to discuss approaches to compensate for this effect. Findings - A very promising approach is the use of a simplified model of the kinematic error within the robot control to compensate for this disturbing effect. Measurement data of the transmission error is mathematically transformed into the frequency domain and filtered to the most important frequency modes of the function. These modes are used to build up a simplified mathematic model of the gear transmission error. A final test using this model as compensation function demonstrates that it is possible to reduce the transmission error of the micro gears by more than 50 percent. Originality/value - The paper presents the first investigation into compensation of the transmission error of micro harmonic drive gears.
AB - Purpose - Economic, flexible and efficient micro production needs new miniaturized automation equipment (desktop factories). Micro assembly processes make demands on precision of miniaturized robots used in desktop factories and the driving concepts, as well as miniaturized machine elements. The purpose of this paper is to investigate miniaturized drives using micro harmonic drive gears, which are promising driving concepts. Design/methodology/approach - The analysis of the miniaturized precision robot Parvus (using micro harmonic drive gears) shows a good repeatability but also room for improvement concerning the path accuracy. Thereby the transmission error of the micro gears is identified as main disturbing influence concerning the robot's precision characteristics. Owing to the size reduction of the micro harmonic drive gear and the slightly different working principle compared to larger harmonic drive gears, the transmission error are more pronounced. Therefore, it is necessary to discuss approaches to compensate for this effect. Findings - A very promising approach is the use of a simplified model of the kinematic error within the robot control to compensate for this disturbing effect. Measurement data of the transmission error is mathematically transformed into the frequency domain and filtered to the most important frequency modes of the function. These modes are used to build up a simplified mathematic model of the gear transmission error. A final test using this model as compensation function demonstrates that it is possible to reduce the transmission error of the micro gears by more than 50 percent. Originality/value - The paper presents the first investigation into compensation of the transmission error of micro harmonic drive gears.
KW - Compensation
KW - Desktop factory
KW - Harmonics
KW - Kinematics
KW - Micro gears
KW - Miniaturization
KW - Precision robot
KW - Transmission error
UR - http://www.scopus.com/inward/record.url?scp=80053527622&partnerID=8YFLogxK
U2 - 10.1108/01445151111172899
DO - 10.1108/01445151111172899
M3 - Article
AN - SCOPUS:80053527622
VL - 31
SP - 319
EP - 328
JO - Assembly automation
JF - Assembly automation
SN - 0144-5154
IS - 4
ER -