Smart-Structures Technology for Parallel Robots

Abstract

ndustrial robots play an important role in automation technology. An further increase of productivity is desired especially in the field of handling and assembly which is the main domain of industrial robots. Serial robots, where drives and links are located in a single chain, are widely used in those applications. A further enhancement of their productivity by shortening of cycle times is limited. Parallel robots demonstrated their potential in applications with needs for high-dynamic trajectories in the recent years. In contrast to serial robots they meet the demands for higher accelerations at constant precision due to their fixed drives and large structural stiffness. The Technical University of Braunschweig operates Collaborative Research Center (SFB 562) - 'Robotic Systems for Handling and Assembly' in order to enhance the knowledge about parallel robots. Fundamental investigations regarding new structural concepts, adapted mechanical components and adaptive systems are carried out in order to extend the application area of parallel robots. Specific active components, models for describing the vibration behavior of structures and new approaches for structural control are developed and investigated within the field of smart-structures for parallel robots. This paper presents the latest results in this field.