Miniaturized modular manipulator design for high precision assembly and manipulation tasks
Kunt, Emrah Deniz and Naskali, Ahmet Teoman and Şabanoviç, Asif (2012) Miniaturized modular manipulator design for high precision assembly and manipulation tasks. In: 12th IEEE International Workshop on Advanced Motion Control (AMC), Sarajevo, Bosnia and Herzegovina
Official URL: http://dx.doi.org/10.1109/AMC.2012.6197027
In this paper, design and control issues for the development of miniaturized manipulators which are aimed to be used in high precision assembly and manipulation tasks are presented. The developed manipulators are size adapted devices, miniaturized versions of conventional robots based on well-known kinematic structures. 3 degrees of freedom (DOF) delta robot and a 2 DOF pantograph mechanism enhanced with a rotational axis at the tip and a Z axis actuating the whole mechanism are given as examples of study. These parallel mechanisms are designed and developed to be used in modular assembly systems for the realization of high precision assembly and manipulation tasks. In that sense, modularity is addressed as an important design consideration. The design procedures are given in details in order to provide solutions for miniaturization and experimental results are given to show the achieved performances.
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