An Underactuated Mechanism for Assembly Processes

G. Borchert ； A. Raatz

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 465-469

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.088

並列摘要

This paper is concerned with the development of a flexible and cost saving production system. In the present study, the mobile platform of a delta parallel robot is extended with an underactuated mechanism with three passive rotational degrees. In doing so, the manipulability of the system is increased without the need for additional motors. The passive joints are actuated by means of inertia moments, which result from the acceleration of the mobile platform. After stating what motivated the concept, different well-known underactuated mechanisms are presented. This is followed by a brief description of the developed underactuated wrist mechanism, which features torque-free connections between the axes with respect to the vacuum supply and the encoder coupling. A possible classification of the process design is then presented along with a schematic example of a pick-and-place task. The classification includes single and continuous processes. The latter is further split into an online and offline control strategy. The article closes with the identification of future developments.

並列關鍵字

Underactuated mechanism ； Orientation ； Extension mechanism ； Delta robot ； Assembly