Details
| Original language | English |
|---|---|
| Pages (from-to) | 245-250 |
| Number of pages | 6 |
| Journal | Procedia CIRP |
| Volume | 44 |
| Publication status | Published - 11 May 2016 |
| Event | 6th CIRP Conference on Assembly Technologies and Systems, CATS 2016 - Gothenburg, Sweden Duration: 16 May 2016 → 18 May 2016 |
Abstract
The article focuses on methods for designing modular cable-driven orientation mechanisms that can be attached to robot systems that lack on rotational degrees of freedom. The approach yields assembly systems for high speed handling applications by reducing moving masses. For this purpose, a classification of feasible kinematic structures are given and resulting characteristics, like the orientation workspace, dexterity or its homogeneity, are analyzed. The mechanical design of a first prototype is subsequently presented along with a universal simulation tool for determining task-adapted powertrains using cables. Finally, results of first tests and possibilities for future developments are presented.
Keywords
- assembly robot, cable-driven, orientation mechanism, parallel kinematic
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: Procedia CIRP, Vol. 44, 11.05.2016, p. 245-250.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Simulation and Design of an Orientation Mechanism for Assembly Systems
AU - Krebs, Daniel
AU - Borchert, Gunnar
AU - Raatz, Annika
PY - 2016/5/11
Y1 - 2016/5/11
N2 - The article focuses on methods for designing modular cable-driven orientation mechanisms that can be attached to robot systems that lack on rotational degrees of freedom. The approach yields assembly systems for high speed handling applications by reducing moving masses. For this purpose, a classification of feasible kinematic structures are given and resulting characteristics, like the orientation workspace, dexterity or its homogeneity, are analyzed. The mechanical design of a first prototype is subsequently presented along with a universal simulation tool for determining task-adapted powertrains using cables. Finally, results of first tests and possibilities for future developments are presented.
AB - The article focuses on methods for designing modular cable-driven orientation mechanisms that can be attached to robot systems that lack on rotational degrees of freedom. The approach yields assembly systems for high speed handling applications by reducing moving masses. For this purpose, a classification of feasible kinematic structures are given and resulting characteristics, like the orientation workspace, dexterity or its homogeneity, are analyzed. The mechanical design of a first prototype is subsequently presented along with a universal simulation tool for determining task-adapted powertrains using cables. Finally, results of first tests and possibilities for future developments are presented.
KW - assembly robot
KW - cable-driven
KW - orientation mechanism
KW - parallel kinematic
UR - http://www.scopus.com/inward/record.url?scp=84994174920&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2016.02.122
DO - 10.1016/j.procir.2016.02.122
M3 - Conference article
AN - SCOPUS:84994174920
VL - 44
SP - 245
EP - 250
JO - Procedia CIRP
JF - Procedia CIRP
SN - 2212-8271
T2 - 6th CIRP Conference on Assembly Technologies and Systems, CATS 2016
Y2 - 16 May 2016 through 18 May 2016
ER -