Task scheduling method for HRC workplaces based on capabilities and execution time assumptions for robots

High Precision Compliant Parallel Robot with an Optimized Large Workspace

Categories Konferenz
Year 2004
Authors Raatz, A.; Wrege, J.; Soetebier, S.; Hesselbach, J.
Published in Proc. ASME - Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, Utah, USA, 2004, No. 57399

In this paper a macro parallel robot is presented in which conventional bearings are replaced by pseudo-elastic flexure hinges. The robot consists of a spatial parallel structure with three translational degrees of freedom and is driven by three linear direct drives. The structure has been optimized with respect to workspace and transmission ratio. Additionally, in simulations with the FEM tool ANSYS different geometrical arrangements and combinations of flexure hinges have been investigated with respect to the dynamic behavior of the compliant mechanism. Due to the symmetrical character of the structure and the optimized design of the combined flexure hinges the structure is very stiff. The experimental measured repeatability of the compliant robot is below 0.3 μm.

DOI 10.1115/DETC2004-57399