Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 14th IASTED International Conference on Robotics and Applications, RA 2009 |
| Pages | 426-433 |
| Number of pages | 8 |
| Publication status | Published - Dec 2009 |
| Externally published | Yes |
| Event | 14th IASTED International Conference on Robotics and Applications, RA 2009 - Cambridge, MA, United States Duration: 2 Nov 2009 → 4 Nov 2009 |
Publication series
| Name | Proceedings of the IASTED International Conference on Robotics and Applications |
|---|---|
| ISSN (Print) | 1027-264X |
Abstract
Shorter product life cycles and high demand fluctuations require modular and flexible production technologies. One approach to face this challenge are reconfigurable robotic systems. This contribution shows a systematic design methodology, based on spreading requirements, to identify machine parts and the possibilities of reconfiguration for parallel robots. The benefits of different reconfiguration options are shown by a workspace analysis of a 2-degree of freedom planar parallel mechanism. Considering a relational network of requirements that rely on specific use cases, the capability of a reconfigured parallel kinematic structure becomes apparent. A pick-and-place and assembly task, which can now be accomplished by the same robotic system is demonstrated finally to demonstrate the practicability.
Keywords
- Design methodology, Parallel robots, Reconfiguration, Requirements management
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
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Proceedings of the 14th IASTED International Conference on Robotics and Applications, RA 2009. 2009. p. 426-433 (Proceedings of the IASTED International Conference on Robotics and Applications).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Reconfigurable parallel kinematic structures for spreading requirements
AU - Schmitt, J.
AU - Stechert, C.
AU - Raatz, Annika
AU - Hesselbach, Jürgen
AU - Vietor, Thomas
AU - Franke, H. J.
PY - 2009/12
Y1 - 2009/12
N2 - Shorter product life cycles and high demand fluctuations require modular and flexible production technologies. One approach to face this challenge are reconfigurable robotic systems. This contribution shows a systematic design methodology, based on spreading requirements, to identify machine parts and the possibilities of reconfiguration for parallel robots. The benefits of different reconfiguration options are shown by a workspace analysis of a 2-degree of freedom planar parallel mechanism. Considering a relational network of requirements that rely on specific use cases, the capability of a reconfigured parallel kinematic structure becomes apparent. A pick-and-place and assembly task, which can now be accomplished by the same robotic system is demonstrated finally to demonstrate the practicability.
AB - Shorter product life cycles and high demand fluctuations require modular and flexible production technologies. One approach to face this challenge are reconfigurable robotic systems. This contribution shows a systematic design methodology, based on spreading requirements, to identify machine parts and the possibilities of reconfiguration for parallel robots. The benefits of different reconfiguration options are shown by a workspace analysis of a 2-degree of freedom planar parallel mechanism. Considering a relational network of requirements that rely on specific use cases, the capability of a reconfigured parallel kinematic structure becomes apparent. A pick-and-place and assembly task, which can now be accomplished by the same robotic system is demonstrated finally to demonstrate the practicability.
KW - Design methodology
KW - Parallel robots
KW - Reconfiguration
KW - Requirements management
UR - http://www.scopus.com/inward/record.url?scp=77954211496&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77954211496
SN - 9780889868137
T3 - Proceedings of the IASTED International Conference on Robotics and Applications
SP - 426
EP - 433
BT - Proceedings of the 14th IASTED International Conference on Robotics and Applications, RA 2009
T2 - 14th IASTED International Conference on Robotics and Applications, RA 2009
Y2 - 2 November 2009 through 4 November 2009
ER -