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Keimer, Ralf and Pavlovic, Nenad (2009) Design and Tests of Adaptronic Joints with Quasi-static Clearance Adjustment in a Parallel Robot. ASME 2009 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS 2009) , 20.-24. Sept. 2009, Oxnard, California, USA .
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Abstract
Robots based on parallel kinematic structures feature low moved masses, allowing for better dy-namic performance compared to serial mechanisms, eventually resulting in shorter cycle-times in handling and assembly. A side effect of this high dynamics is a higher level of vibration which has to be addressed in order to reach the full potential for short cycle-times. Some active measures for vibration-suppression were already presented previously. Another problem of parallel robots is a small ratio between working-space to installation-space. In order to overcome the problem (e.g. by changing configurations) specific components (e.g. joints) are needed. In this paper the use of an adaptronic joint with quasi-statical clearance adjustment integrated in the five-bar parallel structure is presented, addressing both vibration-suppression and configuration changes. Dimensioning of the adaptronic joint covers two aspects. Firstly increasing of friction up to blocking the joint in order to change configuration of the five-bar-structure. Secondly friction variation is used to optimize vibration damping and thus indirectly shorten cycle-times. First experimental results are presented and discussed
| Item URL in elib: | https://elib.dlr.de/60542/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | Design and Tests of Adaptronic Joints with Quasi-static Clearance Adjustment in a Parallel Robot | |||||||||
| Authors: |
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| Date: | September 2009 | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Keywords: | Clearance Adjustment, handling and assembly, Parallel Robot, Adaptronic Joint | |||||||||
| Event Title: | ASME 2009 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS 2009) | |||||||||
| Event Location: | Oxnard, California, USA | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 20.-24. Sept. 2009 | |||||||||
| HGF - Research field: | Aeronautics, Space and Transport (old) | |||||||||
| HGF - Program: | Aeronautics | |||||||||
| HGF - Program Themes: | other | |||||||||
| DLR - Research area: | Aeronautics | |||||||||
| DLR - Program: | L - no assignment | |||||||||
| DLR - Research theme (Project): | L - no assignment (old) | |||||||||
| Location: | Braunschweig | |||||||||
| Institutes and Institutions: | Institute of Composite Structures and Adaptive Systems > Adaptronics | |||||||||
| Deposited By: | Ries, Doris | |||||||||
| Deposited On: | 02 Nov 2009 13:17 | |||||||||
| Last Modified: | 02 Nov 2009 13:17 |
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