An Underactuated Mechanism for Assembly Processes

An Underactuated Mechanism for Assembly Processes

Categories Conferences (reviewed)
Year 2015
Authors Borchert, G.; Raatz, A.
Published In 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015 (5 pages)

This paper is concerned with the development of
a flexible and cost saving production system. In the present
study, the mobile platform of a delta parallel robot is
extended with an underactuated mechanism with three
passive rotational degrees. In doing so, the manipulability
of the system is increased without the need for additional
motors. The passive joints are actuated by means of inertia
moments, which result from the acceleration of the mobile
platform. After stating what motivated the concept,
different well-known underactuated mechanisms are
presented. This is followed by a brief description of the
developed underactuated wrist mechanism, which features
torque-free connections between the axes with respect to
the vacuum supply and the encoder coupling. A possible
classification of the process design is then presented along
with a schematic example of a pick-and-place task. The
classification includes single and continuous processes.
The latter is further split into an online and offline control
strategy. The article closes with the identification of future