Institute of Assembly Technology and Robotics Research Publications
Compliant Parallel Robots - Development and Performance

Compliant Parallel Robots - Development and Performance

Categories Konferenz
Year 2006
Authors Raatz, A.; Wrege, J.; Burisch, A.; Hesselbach, J.
Published in S. Ratchev (Edt.): Precision Assembly Technologies for Mini and Micro Products, Proc. Third International Precision Assembly Seminar (IPAS'2006), Springer Verlag, Berlin, Bad Hofgastein, Austria, 2006, pp. 83-92

In this paper the development of 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 FEA 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 µrn.

ISBN 978-0-387-31276-7
DOI 10.1007/0-387-31277-3_9