Details
| Original language | English |
|---|---|
| Title of host publication | Microrobotics and microassembly II |
| Subtitle of host publication | 5 - 6 November 2000, Boston, USA |
| Place of Publication | Bellingham |
| Publisher | SPIE |
| Pages | 157-167 |
| Number of pages | 11 |
| ISBN (print) | 0-8194-3859-6 |
| Publication status | Published - 11 Oct 2000 |
| Externally published | Yes |
| Event | Microrobotics and Microassembly II - Boston, USA Duration: 5 Nov 2000 → 6 Nov 2000 |
Publication series
| Name | Proceedings of SPIE - The International Society for Optical Engineering |
|---|---|
| Publisher | SPIE |
| Volume | 4194 |
| ISSN (Print) | 0277-786X |
Abstract
The increasing tendency of products towards miniaturization makes the substitution of conventional hinges to flexure hinges necessary, since they can be manufactured almost arbitrarily small. On account of their multiple advantages like no backlash, no slip-stick-effects and no friction, their application is especially reasonable in high-precision robots for micro assembly. Particular pseudo-elastic shape memory alloys offer themselves as material for flexure hinges. Since flexible joints gain their mobility exclusively via the elastic deformation of matter, the attainable angle of rotation is strongly limited when using conventional metallic materials with approximately 0.4% maximal elastic strain. Using pseudo-elastic materials, with up to 15% elastic strain, this serious disadvantage of flexure hinges can be avoided. A further problem of flexible joints is their kinematic behavior since they do not behave exactly like conventional rotational joints. In order to examine the kinematics of the hinges an experimental set-up was developed whereby good compliance with theoretical computed values could be achieved. A three (+1) degree of freedom parallel robot with integrated flexure hinges is investigated showing its kinematic deviations to its rigid body model. The data of the kinematic model of the flexible joint can then be implemented into the control of this compliant mechanism in order to gain not only a higher repeatability but also a good absolute accuracy over the entire working space.
ASJC Scopus subject areas
- Materials Science(all)
- Electronic, Optical and Magnetic Materials
- Physics and Astronomy(all)
- Condensed Matter Physics
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Applied Mathematics
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
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Microrobotics and microassembly II: 5 - 6 November 2000, Boston, USA. Bellingham: SPIE, 2000. p. 157-167 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 4194).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Pseudo-elastic flexure-hinges in robots for micro assembly
AU - Hesselbach, Jürgen
AU - Raatz, Annika
PY - 2000/10/11
Y1 - 2000/10/11
N2 - The increasing tendency of products towards miniaturization makes the substitution of conventional hinges to flexure hinges necessary, since they can be manufactured almost arbitrarily small. On account of their multiple advantages like no backlash, no slip-stick-effects and no friction, their application is especially reasonable in high-precision robots for micro assembly. Particular pseudo-elastic shape memory alloys offer themselves as material for flexure hinges. Since flexible joints gain their mobility exclusively via the elastic deformation of matter, the attainable angle of rotation is strongly limited when using conventional metallic materials with approximately 0.4% maximal elastic strain. Using pseudo-elastic materials, with up to 15% elastic strain, this serious disadvantage of flexure hinges can be avoided. A further problem of flexible joints is their kinematic behavior since they do not behave exactly like conventional rotational joints. In order to examine the kinematics of the hinges an experimental set-up was developed whereby good compliance with theoretical computed values could be achieved. A three (+1) degree of freedom parallel robot with integrated flexure hinges is investigated showing its kinematic deviations to its rigid body model. The data of the kinematic model of the flexible joint can then be implemented into the control of this compliant mechanism in order to gain not only a higher repeatability but also a good absolute accuracy over the entire working space.
AB - The increasing tendency of products towards miniaturization makes the substitution of conventional hinges to flexure hinges necessary, since they can be manufactured almost arbitrarily small. On account of their multiple advantages like no backlash, no slip-stick-effects and no friction, their application is especially reasonable in high-precision robots for micro assembly. Particular pseudo-elastic shape memory alloys offer themselves as material for flexure hinges. Since flexible joints gain their mobility exclusively via the elastic deformation of matter, the attainable angle of rotation is strongly limited when using conventional metallic materials with approximately 0.4% maximal elastic strain. Using pseudo-elastic materials, with up to 15% elastic strain, this serious disadvantage of flexure hinges can be avoided. A further problem of flexible joints is their kinematic behavior since they do not behave exactly like conventional rotational joints. In order to examine the kinematics of the hinges an experimental set-up was developed whereby good compliance with theoretical computed values could be achieved. A three (+1) degree of freedom parallel robot with integrated flexure hinges is investigated showing its kinematic deviations to its rigid body model. The data of the kinematic model of the flexible joint can then be implemented into the control of this compliant mechanism in order to gain not only a higher repeatability but also a good absolute accuracy over the entire working space.
UR - http://www.scopus.com/inward/record.url?scp=0034508324&partnerID=8YFLogxK
U2 - 10.1117/12.403696
DO - 10.1117/12.403696
M3 - Conference contribution
AN - SCOPUS:0034508324
SN - 0-8194-3859-6
T3 - Proceedings of SPIE - The International Society for Optical Engineering
SP - 157
EP - 167
BT - Microrobotics and microassembly II
PB - SPIE
CY - Bellingham
T2 - Microrobotics and Microassembly II
Y2 - 5 November 2000 through 6 November 2000
ER -