Design and Optimization of a PKM for Micromanipulation

Abstract:

The actual miniaturization trend, present in several industrial sectors, requires high performance capabilities in micromanipulation and assembly. A complete automation of these operations, by means of robots, could result in a significant cost cut in the final product. In this work we present the mechatronic design and optimization of a 3 d.o.f. Delta type PKM for micromanipulation. Starting from a reference task (pick and place with high stroke rate) the optimal links length has been determined by considering several kinematic performance indexes; afterwards the actual link sizing has been performed considering dynamic loading, also taking into account the effect of the links flexibility on end effector trajectory. A direct drive actuation has been chosen, where the motor sizing has been performed to satisfy several criteria: maximum and r.m.s. torque and maximum speed. The motor selection has been speeded up querying a database built by collecting data from the catalogues of several producer. Furthermore robot joints have been carefully designed in order to reduce backlash and friction.

• Periodical: Applied Mechanics and Materials (Volumes 799-800)
• Pages: 1088-1095
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.799-800.1088
• Online since: October 2015
• Authors: Paolo Righettini, Vittorio Lorenzi, Bruno Zappa, Andrea Ginammi, Roberto Strada*
• Keywords: Flexible Links, Micromanipulation, PKM, Robot Optimization

References

[1] Cecil, J. Powell, D. Vasquez,D. Assembly and manipulation of micro devices A state of the art survey, Robotics and Computer-Integrated Manufacturing, 23 , 580588, (2007).

DOI: 10.1016/j.rcim.2006.05.010

[2] Burisch, A., Raatz, A., Hesselbach, J., Challenges of Precision Assembly with a Miniaturized Robot, Proc. of 5th IFIP WG 5. 5, IPAS 2010 Chamonix, France, pp.227-234, (2010).

DOI: 10.1007/978-3-642-11598-1_27

[3] Hesselbach, J., Raatz, A., Wrege, J., Soetebier, S. Design and analysis of a macro parallel robot with flexure hinges for micro assembly tasks,. Proceedings of 35th International Symposium on Robotics (ISR), (2004).

DOI: 10.1016/s0007-8506(07)60709-4

[4] Burisch, A., Wrege, J., Raatz, A., Hesselbach, J., Degen, R.: PARVUS miniaturised robot for improved flexibility in micro production,. Journal of Assembly Automation, 27(1), 6573 (2007).

DOI: 10.1108/01445150710724720

[5] Campos, L., Bourbonnais, F., Bonev, I.A., Bigras P., Development of a Five-Bar Parallel Robot With Large Workspace, Proc. Int. Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2010) Montreal, Canada, pp.917-922 (2010).

DOI: 10.1115/detc2010-28962

[6] Callegari M., Palpacelli M. and Scarponi M., Kinematics of the 3-CPU parallel manipulator assembled for motions of pure translation, Proc. Intl. Conf. Robotics and Automation, Barcelona (2005).

DOI: 10.1109/robot.2005.1570736

[7] Merlet J.P., Parallel Robots, 2nd edition, Springer ISBN: 978-1-4020-4132-7, (2006).

[8] Siciliano, B., Khatib, O., Springer Handbook of Robotics, ISBN 978-3-540-23957-4 (2008).

[9] R. Clavel, Delta, a fast robot with parallel geometry, Proceedings of the 1988 IEEE International Symposium on Industrial Robot, pp.91-100, Aprile (1988).

[10] L-W. Tsai Robot analysis: the mechanics of serial and parallel manipulators, John Wiley & Sons Inc., (1999).

[11] A. Shabana Dynamics of multibody system, Cambridge University press, pag. 57-164, (1998).

[12] R. R. Craig and M. C. C. Bampton, Coupling of substructures for dynamics analyses, AIAA Journal, 6(7): 1313-1319, (1968).

DOI: 10.2514/3.4741