ForschungPublikationen
Challenges of Miniaturized Robots and Machine Elements for Desktop Factory Applications

Challenges of Miniaturized Robots and Machine Elements for Desktop Factory Applications

Kategorien Konferenz
Jahr 2010
Autoren Burisch, A.; Raatz, A.
Veröffentlicht in in: 7th International Workshop on Microfactories (IWMF2010), Daejeon, Südkorea, 2010, pp. 100-105
Beschreibung

Miniaturized production machines can be used to develop much more flexible micro production systems, such as desktop factories. The challenges and evaluation requirements concerning micro assembly are discussed based on typical precision assembly processes. These challenges also influence the analysis of the miniaturized robot Parvus. The performance characteristics of the robot are described by means of several measurement data. Furthermore, the advantages and challenges of the miniaturized parallel structure, driven by Micro Harmonic Drive gears are explained. The analysis of the robot points out that stiffness and kinematic transmission errors of these micro gears cause special behavior of the robot structure. For this reason an investigation of these influences and an approach for their reduction are discussed. Finally, the use of the robot within a desktop factory assembly setup and its interaction with other peripheral equipment are demonstrated by means of two example assembly processes of microprobes. They verify the good applicability of the robot in a desktop factory.