ForschungPublikationen
A new method for combining handling systems with passive orientation devices

A new method for combining handling systems with passive orientation devices

Kategorien Zeitschriften/Aufsätze (reviewed)
Jahr 2016
Autoren Borchert, G.; Raatz, A.
Veröffentlicht in CIRP Annals - Manufacturing Technology, Elsevier B.V., 2016, Vol. 65/1, pp. 49-52, ISSN 0007-8506, (4 pages)
Beschreibung

The development of flexible and cost-saving handling systems is
within the scope of ongoing research. In the present work, a parallel
robot is extended with a passive orientation device to enhance its
mobility. Additional actuators, which are usually used for active
orientation, are deliberately excluded to reduce costs and weight.
Passive motions are thus caused by accelerations of the parallel robot in
conjunction with the inertia coupling between both structures. This
contribution presents methods to connect the control of the orientation
device with the overlaid handling task. Validation of the process is done
in simulation and experimentally.