Advanced technologies for micro assembly

被引：6
|
作者：
Hesselbach, J [1 ]
Plitea, N [1 ]
Thoben, R [1 ]
机构：
[1] Tech Univ Braunschweig, Inst Prod Automat & Handling Technol, D-3300 Braunschweig, Germany
来源：
MICROROBOTICS AND MICROSYSTEM FABRICATION | 1998年 / 3202卷
关键词：
high precision robot; robot kinematics; parallel robot; flexure hinges; micro assembly; micro grippers; electrostatic grippers;
D O I：
10.1117/12.298035
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper discusses new technologies suited for applications in micro assembly. The discourse includes a new class of robots, based on closed kinematic chains and their advantages for applications in high precision applications with a focus on micro assembly. The discussion continues on design considerations for parallel robots focused on design methods concerning the kinematic aspects as well as for the design of the robot components. The paper presents two concepts for parallel robots with three and six degrees of freedom, covering the transformation algorithms including the kinematic characteristics of these robots. Finally the paper introduces micro gripper principles and specific design suggestions.
引用
收藏
页码：178 / 190
页数：13
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