Details
| Original language | English |
|---|---|
| Title of host publication | Latest Advances in Robot Kinematics |
| Publisher | Springer Netherlands |
| Pages | 131-138 |
| Number of pages | 8 |
| ISBN (electronic) | 9789400746206 |
| ISBN (print) | 9789400746190 |
| Publication status | Published - 2012 |
| Externally published | Yes |
Abstract
Binary actuators have two stable positions which are defined by mechanical end positions. These actuators can be used within parallel structures, to create binary robots. These robots feature high repeatability in their discrete configurations. The discrete nature of these actuators simplify the robots as they no longer need complex feedback controllers. The result is simple cost effective robots that are suitable for positioning tasks which require only a few destination points. A drawback of these discrete robots is that the conditions of a specific task must be fulfilled by the geometric parameters of the binary robot’s kinematic structure. This contribution focuses on the realization of a type synthesis method based on the combination of simple binary robot structures. The presented method allows a suitable parallel structure whose end effector is able to reach the given number of positions of the defined task to be synthesized.
Keywords
- Binary mechanisms, Binary robots, Type synthesis
ASJC Scopus subject areas
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Latest Advances in Robot Kinematics. Springer Netherlands, 2012. p. 131-138.
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Type synthesis of binary actuated parallel mechanisms
AU - Schütz, Daniel
AU - Ellwood, R. J.
AU - Raatz, Annika
AU - Hesselbach, Jürgen
PY - 2012
Y1 - 2012
N2 - Binary actuators have two stable positions which are defined by mechanical end positions. These actuators can be used within parallel structures, to create binary robots. These robots feature high repeatability in their discrete configurations. The discrete nature of these actuators simplify the robots as they no longer need complex feedback controllers. The result is simple cost effective robots that are suitable for positioning tasks which require only a few destination points. A drawback of these discrete robots is that the conditions of a specific task must be fulfilled by the geometric parameters of the binary robot’s kinematic structure. This contribution focuses on the realization of a type synthesis method based on the combination of simple binary robot structures. The presented method allows a suitable parallel structure whose end effector is able to reach the given number of positions of the defined task to be synthesized.
AB - Binary actuators have two stable positions which are defined by mechanical end positions. These actuators can be used within parallel structures, to create binary robots. These robots feature high repeatability in their discrete configurations. The discrete nature of these actuators simplify the robots as they no longer need complex feedback controllers. The result is simple cost effective robots that are suitable for positioning tasks which require only a few destination points. A drawback of these discrete robots is that the conditions of a specific task must be fulfilled by the geometric parameters of the binary robot’s kinematic structure. This contribution focuses on the realization of a type synthesis method based on the combination of simple binary robot structures. The presented method allows a suitable parallel structure whose end effector is able to reach the given number of positions of the defined task to be synthesized.
KW - Binary mechanisms
KW - Binary robots
KW - Type synthesis
UR - http://www.scopus.com/inward/record.url?scp=84956803987&partnerID=8YFLogxK
U2 - 10.1007/978-94-007-4620-6_17
DO - 10.1007/978-94-007-4620-6_17
M3 - Contribution to book/anthology
AN - SCOPUS:84956803987
SN - 9789400746190
SP - 131
EP - 138
BT - Latest Advances in Robot Kinematics
PB - Springer Netherlands
ER -