ResearchPublications
Optimized Change of Working and Assemby Mode of the SFB 562 TRIGLIDE-Robot

Optimized Change of Working and Assemby Mode of the SFB 562 TRIGLIDE-Robot

Categories Conferences
Year 2008
Authors Budde, Christoph; Kolbus, Michael; Last, Philipp; Raatz, Annika; Hesselbach, Jürgen; Schumacher, Walter
Published In in: 3rd International Colloquium of the SFB 562: Robotic Systems for Handling and Assembly (RSHA 2008), Shaker Verlag, Aachen, Braunschweig, 2008, 221-236
Description

'For the efficient use of parallel-robots”™ favorable capability of highly dynamic movements it is necessary to get a grip on their drawbacks. To bypass the commonly small ratio of workspace to installation-space an approach using several workspaces going along with different working and assembly modes was proposed earlier. Several singularities have to be passed in order to change between these workspaces. For a TRIGLIDE structure specifically designed for this purpose this paper presents optimized procedures to perform the necessary configuration change. They are based on passing two different singularities at the same time.'

ISBN 978-3-8322-7129-9