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Design and Tests of Adaptronic Joints with Quasi-static Clearance Adjustment in a Parallel Robot

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   .

Full text not available from this repository.

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/
Document Type:Conference or Workshop Item (Speech)
Title:Design and Tests of Adaptronic Joints with Quasi-static Clearance Adjustment in a Parallel Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Keimer, RalfUNSPECIFIEDUNSPECIFIED
Pavlovic, NenadTU Braunschweig, Institute for Engineering DesignUNSPECIFIED
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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