ForschungPublikationen
APIS – A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors

APIS – A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors

Kategorien Konferenz (reviewed)
Jahr 2010
Autoren Borchert, G.; Burisch, A.; Raatz, A.
Veröffentlicht in in: 7th International Workshop on Microfactories (IWMF2010), Daejeon, Südkorea, 2010, pp. 111-116 (6 pages)
Beschreibung

This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 µm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.