ResearchPublications
Simulation and Design of an Orientation Mechanism for Assembly Systems

Simulation and Design of an Orientation Mechanism for Assembly Systems

Categories Journals (reviewed)
Year 2016
Authors Krebs, D.; Borchert, G.; Raatz, A.
Published In Procedia CIRP 44 (2016) pp. 245-250 (6th CIRP Conference on Assembly Technologies and Systems (CATS), (6 pages)
Description

The article focuses on methods for designing modular cable-driven orientation mechanisms that can be attached to robot systems that lack on rotational degrees of freedom. The approach yields assembly systems for high speed handling applications by reducing moving masses. For this purpose, a classification of feasible kinematic structures are given and resulting characteristics, like the orientation workspace, dexterity or its homogeneity, are analyzed. The mechanical design of a first prototype is subsequently presented along with a universal simulation tool for determining task-adapted powertrains using cables. Finally, results of first tests and possibilities for future developments are presented.

ISBN 2212-8271
DOI 10.1016/j.procir.2016.02.122