Details
| Original language | English |
|---|---|
| Pages (from-to) | 329-332 |
| Number of pages | 4 |
| Journal | CIRP Annals - Manufacturing Technology |
| Volume | 53 |
| Issue number | 1 |
| Publication status | Published - 1 Jan 2004 |
| Externally published | Yes |
Abstract
This paper presents the application of pseudo-elastic flexure hinges in parallel robots for micro-assembly tasks. The material used for the flexure hinges is a shape memory alloy permitting angular deflections of ± 30°. Based on this flexibility sufficiently large workspaces of the robots can be achieved. Simulations show that kinematic deviations caused by flexure hinges are reducing the absolute positioning accuracy of compliant mechanisms. Likewise the simulations indicate that the kinematic behaviour of compliant mechanisms differs only slightly from their counterparts with conventional joints, which are analytically described by means of a rigid-body model. Experimental measurements with two compliant robots show the possibility to increase repeatability and resolution by using flexure hinges.
Keywords
- Compliant Mechanism, Kinematics, Robotics
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: CIRP Annals - Manufacturing Technology, Vol. 53, No. 1, 01.01.2004, p. 329-332.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Performance of pseudo-elastic flexure hinges in parallel robots for micro-assembly tasks
AU - Hesselbach, Jürgen
AU - Raatz, Annika
AU - Kunzmann, Horst
N1 - Funding information: The authors gratefully acknowledge the financial support by the German Research Foundation (DFG).
PY - 2004/1/1
Y1 - 2004/1/1
N2 - This paper presents the application of pseudo-elastic flexure hinges in parallel robots for micro-assembly tasks. The material used for the flexure hinges is a shape memory alloy permitting angular deflections of ± 30°. Based on this flexibility sufficiently large workspaces of the robots can be achieved. Simulations show that kinematic deviations caused by flexure hinges are reducing the absolute positioning accuracy of compliant mechanisms. Likewise the simulations indicate that the kinematic behaviour of compliant mechanisms differs only slightly from their counterparts with conventional joints, which are analytically described by means of a rigid-body model. Experimental measurements with two compliant robots show the possibility to increase repeatability and resolution by using flexure hinges.
AB - This paper presents the application of pseudo-elastic flexure hinges in parallel robots for micro-assembly tasks. The material used for the flexure hinges is a shape memory alloy permitting angular deflections of ± 30°. Based on this flexibility sufficiently large workspaces of the robots can be achieved. Simulations show that kinematic deviations caused by flexure hinges are reducing the absolute positioning accuracy of compliant mechanisms. Likewise the simulations indicate that the kinematic behaviour of compliant mechanisms differs only slightly from their counterparts with conventional joints, which are analytically described by means of a rigid-body model. Experimental measurements with two compliant robots show the possibility to increase repeatability and resolution by using flexure hinges.
KW - Compliant Mechanism
KW - Kinematics
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=3142677270&partnerID=8YFLogxK
U2 - 10.1016/S0007-8506(07)60709-4
DO - 10.1016/S0007-8506(07)60709-4
M3 - Article
AN - SCOPUS:3142677270
VL - 53
SP - 329
EP - 332
JO - CIRP Annals - Manufacturing Technology
JF - CIRP Annals - Manufacturing Technology
SN - 0007-8506
IS - 1
ER -