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Design of Active Rods with Multiple Degrees of Freedom for Vibration suppression in Parallel Robots for Handling and Assembly

Keimer, Ralf and Algermissen, Stephan and Rose, Michael (2010) Design of Active Rods with Multiple Degrees of Freedom for Vibration suppression in Parallel Robots for Handling and Assembly. ACTUATOR 2010, 14. - 16. Juni 2010, Bremen, Deutschland.

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Abstract

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 lower moved masses and larger structural stiffness. On the other hand higher accelerations increase the risk of severe vibration of the structural parts. Therefore active vibration suppression using rods with embedded piezoceramic actuators is used to counteract these vibrations to reach the goal of short cycle-times in handling processes. Active rods or active members in general were used to build systems for vibration suppression in parallel robots and were presented previously. In this paper a design for rods with multiple active degrees of freedom (i.e. bending, elongation and torsional movement) is presented in the context of parallel robots. This design is using piezoelectric actuators with d33-effect to realize the active deformations. The design process used for building these rods is discussed as it is essential to balance the goal of maximum actuating authority with the demand for the ability to carry structural loads as a robot component. This concept of structural conformity governing the design process in order to build reliable and high-performance rods is elucidated and discussed. The parameters influencing the design are given. Problems of manufacturing the rods are highlighted as boundary conditions to the design process. Parameter studies using an FE model demonstrate the concept and experimental data give evidence of the validity of the model

Item URL in elib:https://elib.dlr.de/83641/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Design of Active Rods with Multiple Degrees of Freedom for Vibration suppression in Parallel Robots for Handling and Assembly
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Keimer, RalfUNSPECIFIEDUNSPECIFIED
Algermissen, StephanUNSPECIFIEDUNSPECIFIED
Rose, MichaelUNSPECIFIEDUNSPECIFIED
Date:June 2010
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:design, Parallel Robot, handling and assembly, Actuator
Event Title:ACTUATOR 2010
Event Location:Bremen, Deutschland
Event Type:national Conference
Event Dates:14. - 16. Juni 2010
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research (old)
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Structures & Materials (old)
Location: Braunschweig
Institutes and Institutions:Institute of Composite Structures and Adaptive Systems > Adaptronics
Deposited By: Böhringer-Thelen, Isolde
Deposited On:05 Aug 2013 10:20
Last Modified:05 Aug 2013 10:20

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