Development and Evaluation of Miniaturized 6-DOF Parallel Link Manipulator

Abstract:

Article Preview

Recently, compact machine tools have witnessed increased demand in the manufacture of small parts with high accuracy. However, miniaturization of these machines poses problems such as decrease in the accuracy and the range of motion. We focused on miniaturizing a parallel link manipulator, which is known to have high rigidity and accuracy. A non-cylindrical link was adopted in the designed manipulator for avoiding collisions among links with an impact drive actuator attached to their side. We confirmed through repeatability measurements that the developed manipulator had sufficient accuracy for handling small electronic parts.

Info:

Periodical:

Key Engineering Materials (Volumes 523-524)

Edited by:

Tojiro Aoyama, Hideki Aoyama, Atsushi Matsubara, Hayato Yoshioka and Libo Zhou

Pages:

756-761

Citation:

R. Kobayashi et al., "Development and Evaluation of Miniaturized 6-DOF Parallel Link Manipulator", Key Engineering Materials, Vols. 523-524, pp. 756-761, 2012

Online since:

November 2012

Export:

Price:

$38.00

[1] G.H. Pfeundschuh, et al., Design and control of a 3-DOF in-parallel Actuated Manipulator, Proceedings of IEEE International Conference on Robotics and Automation, (1991) pp.1659-1664.

[2] Katsushi Furutani, et al., Effect of lubrication on impact drive mechanism, Precision Engineering, Vol. 22, (1998), pp.78-86.

DOI: https://doi.org/10.1016/s0141-6359(98)00004-x

[3] Yung-Tien Liu, et al., A self-moving precision positioning stage utilizing impact force of apring-mounted piezoelectric actuators, Sensors and Actuators A, Vol. 102, (2002), pp.83-92.

DOI: https://doi.org/10.1016/s0924-4247(02)00388-6

[4] Takeshi Morita, et al., Three DOF parallel link mechanism utilizing smooth impact drive mechanism, Precision Engineering, Vol. 26, (2002), pp.289-295.

DOI: https://doi.org/10.1016/s0141-6359(02)00111-3