Reconfigurable Parallel Kinematic Structures for Spreading Requirements
Categories |
Conferences |
Year | 2009 |
Authors | Schmitt, Jan; Stechert, Carsten; Raatz, Annika; Hesselbach, Jürgen; Franke, Hans-Joachim; Vietor, Thomas |
Published In | in: IASTED - Robotics and Applications, Cambridge, MA, USA, 2009 |
'Shorter product life cycles and high demand fluctuations require modular and flexible production technologies. One approach to face this challenge are reconfigurable robotic systems. This contribution shows a systematic design methodology, based on spreading requirements, to identify machine parts and the possibilities of reconfiguration for parallel robots. The benefits of different reconfiguration options are shown by a workspace analysis of a 2-degree of freedom planar parallel mechanism. Considering a relational network of requirements that rely on specific use cases, the capability of a reconfigured parallel kinematic structure becomes apparent. A pick-and-place and assembly task, which can now be accomplished by the same robotic system is demonstrated finally to demonstrate the practicability.'