Compliant parallel robots: Development and performance

Annika Raatz; Jan Wrege; Arne Burisch; Jürgen Hesselbach

doi:10.1007/0-387-31277-3_9

Compliant parallel robots: Development and performance

Annika Raatz^*
, Jan Wrege
, Arne Burisch
, Jürgen Hesselbach

^*Korrespondierende*r Autor*in für diese Arbeit

Technische Universität Braunschweig

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Beitrag in Buch/Sammelwerk › Forschung › Peer-Review

Abstract

In this paper the development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEA tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.

Originalsprache	Englisch
Titel des Sammelwerks	Precision Assembly Technologies for Mini and Micro Products
Untertitel	Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006)
Seiten	83-92
Seitenumfang	10
DOIs	https://doi.org/10.1007/0-387-31277-3_9
Publikationsstatus	Veröffentlicht - 5 Okt. 2006
Extern publiziert	Ja

Publikationsreihe

Name	IFIP International Federation for Information Processing
Band	198
ISSN (Print)	1571-5736

ASJC Scopus Sachgebiete

Informationssysteme und -management

Zugriff auf Dokument

10.1007/0-387-31277-3_9

Andere Dateien und Links

Link zur Publikation in Scopus

Dieses zitieren

Raatz, A., Wrege, J., Burisch, A., & Hesselbach, J. (2006). Compliant parallel robots: Development and performance. in Precision Assembly Technologies for Mini and Micro Products: Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006) (S. 83-92). (IFIP International Federation for Information Processing; Band 198). https://doi.org/10.1007/0-387-31277-3_9

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abstract = "In this paper the development of a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEA tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.",

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Raatz, A, Wrege, J, Burisch, A & Hesselbach, J 2006, Compliant parallel robots: Development and performance. in Precision Assembly Technologies for Mini and Micro Products: Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006). IFIP International Federation for Information Processing, Bd. 198, S. 83-92. https://doi.org/10.1007/0-387-31277-3_9

Compliant parallel robots: Development and performance. / Raatz, Annika; Wrege, Jan; Burisch, Arne et al.
Precision Assembly Technologies for Mini and Micro Products: Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006). 2006. S. 83-92 (IFIP International Federation for Information Processing; Band 198).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Beitrag in Buch/Sammelwerk › Forschung › Peer-Review

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