Robots based on parallel kinematic structures feature low moved masses, allowing for better dynamic 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. The design and the test-setup for use of adaptronic joints in a parallel robot is presented.
- Aerospace Division
Design and Test of Adaptronic Joints With Quasi-Statical Clearance Adjustment in a Parallel Robot
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Keimer, R, & Pavlovic, N. "Design and Test of Adaptronic Joints With Quasi-Statical Clearance Adjustment in a Parallel Robot." Proceedings of the ASME 2009 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 2: Multifunctional Materials; Enabling Technologies and Integrated System Design; Structural Health Monitoring/NDE; Bio-Inspired Smart Materials and Structures. Oxnard, California, USA. September 21–23, 2009. pp. 223-229. ASME. https://doi.org/10.1115/SMASIS2009-1266
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