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

^*Corresponding author for this work

Technische Universität Braunschweig

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › 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.

Original language	English
Title of host publication	Precision Assembly Technologies for Mini and Micro Products
Subtitle of host publication	Proceedings of the IFIP TC5 WG5.5 Third International Precision Assembly Seminar (IPAS '2006)
Pages	83-92
Number of pages	10
DOIs	https://doi.org/10.1007/0-387-31277-3_9
Publication status	Published - 5 Oct 2006
Externally published	Yes

Publication series

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

Keywords

Compliant Mechanism
Flexure hinges
High Precision Robotics
Pseudo-elastic SMA

ASJC Scopus subject areas

Information Systems and Management

Access to Document

10.1007/0-387-31277-3_9

Cite this

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) (pp. 83-92). (IFIP International Federation for Information Processing; Vol. 198). https://doi.org/10.1007/0-387-31277-3_9

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title = "Compliant parallel robots: Development and performance",

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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author = "Annika Raatz and Jan Wrege and Arne Burisch and J{\"u}rgen Hesselbach",

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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, vol. 198, pp. 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. p. 83-92 (IFIP International Federation for Information Processing; Vol. 198).

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review

TY - CHAP

T1 - Compliant parallel robots

T2 - Development and performance

AU - Raatz, Annika

AU - Wrege, Jan

AU - Burisch, Arne

AU - Hesselbach, Jürgen

PY - 2006/10/5

Y1 - 2006/10/5

N2 - 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.

AB - 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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KW - Flexure hinges

KW - High Precision Robotics

KW - Pseudo-elastic SMA

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DO - 10.1007/0-387-31277-3_9

M3 - Contribution to book/anthology

AN - SCOPUS:33749173168

SN - 0387312765

SN - 9780387312767

T3 - IFIP International Federation for Information Processing

SP - 83

EP - 92

BT - Precision Assembly Technologies for Mini and Micro Products

ER -

Compliant parallel robots: Development and performance

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this