The paper deals with a parallel robot for miniaturized assembly applications. The machine is based on the cartesian-parallel scheme and it is equipped with flexure revolute joints, in order to avoid stick-slip phenomena and reach high positioning accuracy (better than I mu m). Its workspace volume is a cube of side 30 mm. The three flexible robot arms have internal non-actuated degrees of freedom, which can be passively damped or, if needed, actively controlled; the vibrational behaviour of the arms has been analyzed by means of a Pseudo-Rigid Body model, and the results suggests the adoption of passive damping. The actuation is based on linear cog-free motors; the actuation and control layout of the prototype is discussed.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
|Titolo:||Mechanical modelling and control layout of a Mini-PKM for assembly applications|
|Data di pubblicazione:||2006|
|Appare nelle tipologie:||04.01 - Contributo in atti di convegno|