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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 Zeitschriften/Aufsätze (reviewed)
Jahr 2011
Autoren Borchert, G.; Burisch, A.; Raatz, A.
Veröffentlicht in in: International Journal of Precision Engineering and Manufacturing, Springer, Vol. 12, Nr. 4, 2011, pp. 629-634 (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 and thus designed for low-cost applications. 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.'

ISBN 1229-8557
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