Miniaturized modular manipulator design for high precision assembly and manipulation tasks

Kunt E. D., NASKALİ A. T., Sabanovic A.

2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosna-Hersek, 25 - 27 Mart 2012 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/amc.2012.6197027
  • Basıldığı Şehir: Sarajevo
  • Basıldığı Ülke: Bosna-Hersek
  • Anahtar Kelimeler: high precision assembly, miniaturization, modularity, parallel robots
  • Galatasaray Üniversitesi Adresli: Evet

Özet

In this paper, design and control issues for the development of miniaturized manipulators which are aimed to be used in high precision assembly and manipulation tasks are presented. The developed manipulators are size adapted devices, miniaturized versions of conventional robots based on well-known kinematic structures. 3 degrees of freedom (DOF) delta robot and a 2 DOF pantograph mechanism enhanced with a rotational axis at the tip and a Z axis actuating the whole mechanism are given as examples of study. These parallel mechanisms are designed and developed to be used in modular assembly systems for the realization of high precision assembly and manipulation tasks. In that sense, modularity is addressed as an important design consideration. The design procedures are given in details in order to provide solutions for miniaturization and experimental results are given to show the achieved performances. © 2012 IEEE.