Institute of Assembly Technology and Robotics Research Publications
APIS - A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors

APIS - A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors

Categories Zeitschriften/Aufsätze (reviewed)
Year 2011
Authors Borchert, G.; Burisch, A.; Raatz, A.
Published in International Journal of Precision Engineering and Manufacturing, Springer, Vol. 12, Nr. 4, 2011, pp. 629-634 (6 pages)
Description

This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 μm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.

ISSN 1229-8557
DOI 10.1007/s12541-011-0081-0
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