Design of a 3-DOFs Parallel Robotic Device for Miniaturized Object Machining

被引：4

作者：

Aggogeri, Francesco ^{[1
]}

Borboni, Alberto ^{[1
]}

Merlo, Angelo ^{[2
]}

Pellegrini, Nicola ^{[1
]}

Tiboni, Monica ^{[1
]}

机构：

[1] Univ Brescia, Dept Mech & Ind Engn, Via Branze 38, I-25123 Brescia, Italy

[2] Ctr Studi Ind, Turin, Italy

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2018 | 2019年 / 67卷

关键词：

Robotic device; Mechatronics; PZT actuators; FE simulation; MANIPULATOR;

D O I：

10.1007/978-3-030-00232-9_34

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The design of innovative robotic devices reflects the behavior of the modern competitive markets, where the customer's expectations dramatically increased. Many researches aim to apply innovative solutions to obtain high machining performances and quality of products. This paper deals to present a 3-DOFs parallel robotic device for miniaturized object manipulation and machining. The proposed device has multi-purpose applications and it consists of an actuation system based on preloaded piezoactuators with high dynamics and force, that automatically recover the workpiece distortions or positioning errors due to fixture set-up or machining vibrations. The study presents the main concept of the robotic device, highlighting the main functionalities and components, that impact on the system performance. Moreover, an analytical model is presented and validated using FE analysis, confirming the effectiveness of the adopted approach to control the device.

引用

页码：325 / 332

页数：8

共 14 条

[11] Slewing and vibration control of a single-link flexible manipulator by positive position feedback (PPF) [J].

Shan, JJ ;

Liu, HT ;

Sun, D .

MECHATRONICS, 2005, 15 (04) :487-503

[12]

Uhlmann E., 2004, PRODUCTION ENG RES D, V11, P149

[13] Analysis and optimal design of an underactuated finger mechanism for LARM hand [J].

Yao S. ;

Ceccarelli M. ;

Carbone G. ;

Zhan Q. ;

Lu Z. .

Frontiers of Mechanical Engineering, 2011, 6 (3) :332-343

[14]

Zhou K., 1998, Essentials of robust control, V104

← 1 2 →