Adaptronic Joints for Parallel Kinematic Structures

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13 Νοε 2013 (πριν από 3 χρόνια και 6 μήνες)

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Robotic Systems for Handling and Assembly

N. Pavlovi
ć

Adaptronic Joints for

Parallel Kinematic Structures

Technical University of Brunswick

Institute of Engineering Design

Prof. Dr.
-
Ing. H.
-
J. Franke

German Aerospace Centre

Institute of Composite Structures
and Adaptive Systems

Prof. Dr.
-
Ing. E. Breitbach

DLR
Benidorm, March, 2007

1

Robotic Systems for Handling and Assembly

Adaptronic Joints for

Parallel Kinematic Structures


1.
Passive Joints


2.
Adaptronic Joints


Development


3.
Adaptronic Joints


Prototypes

Introduction

2

Robotic Systems for Handling and Assembly

Robotic Systems for Handling and Assembly

-

High Dynamic Parallel Structures with Adaptronic Components
-

Collaborative Research Center 562

www.tu
-
braunschweig.de/sfb562/

Passive Joints

3

Robotic Systems for Handling and Assembly

Requirements on Joints for Parallel Robots


1.
Diverse


2.
Contradictory

State of the Art



Passive joints










偡獳楶攠䩯楮瑳

4

Robotic Systems for Handling and Assembly

Two Effect Principles
:


1.
Quasi
-
Statical Clearance Adjustment


2.
High
-
Frequency Excitation

New Approach to Joint Design


Adaptive joints


䅣瑩癥v䅤慰瑡扩汩瑹

䅤慰瑲潮楣⁊潩湴猠


Development

5

Robotic Systems for Handling and Assembly

1


Central Ring

2


Upper Part of the Housing

3


Lower Part of the Housing

4


Screw

5


Piezo Ring Actuator

6


Washer

7


Angular Contact Spherical
Plain Bearing

8


Shaft Shoulder

9


S
lotted Round Nut



2



1



3



4



5



7





6



9



8



Quasi
-
Statical Clearance Adjustment

Adaptronic Joints


Prototypes

6

Robotic Systems for Handling and Assembly

1


Piezo Ring Actuator

2


Centering Bush

3


Screw

4


Holder

5


Radial Sliding Bearing

6


Axial Sliding Bearing

1

2

3

6

4

5

High
-
Frequency Excitation

Adaptronic Joints


Prototypes

7

Robotic Systems for Handling and Assembly

Summary


1.
Conventional Joints


No Adaptability


2.
Adaptronic Joints


Two Effect Principles


3.
Prototypes

Summary & Outlook

8

Robotic Systems for Handling and Assembly

Outlook


1.
Mathematical Models <=> Experiments


2.
Real Parallel Structure


3.
More DoF

Summary & Outlook