Architectures and Interfaces for a Micro Factory Concept

Siltala, Niko; Heikkilä, Riku; Vuola, Asser; Tuokko, Reijo

doi:10.1007/978-3-642-11598-1_34

Cited by 7 publications

(3 citation statements)

References 5 publications

(10 reference statements)

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“…This is comparatively better than a serial structure with comparable limb dimensions, since the parallel structure achieves a larger space of high repeatabilities. 6 The workspace of APIS is shown in Fig. 2 in comparison with the dimensions of a common credit-card.…”

Section: Kinematic Structurementioning

confidence: 99%

“…Nowadays, there are also a few examples in Europe of research and industry projects. In research, examples of modular production cells such as the system developed by Sitala et al 6 can be found. Another concept of assembly modules mounted around a fixed platform is followed up in research projects by Gaugel et al 7 and Rochdi et al 8 and by the industrial manufacturer MiLaSys.…”

Section: Introductionmentioning

confidence: 98%

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APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors

Borchert

Burisch

Raatz

2011

Int. J. Precis. Eng. Manuf.

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This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 µm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.

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Section: Kinematic Structurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors

Borchert

Burisch

Raatz

2011

Int. J. Precis. Eng. Manuf.

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show abstract

“…The first impulse for desktop factories was given by MEL (Okazaki et al , 2002) in Japan with the estimation that a 1/10 size reduction of production machines could lead to a decrease of energy consumption of about 1/100 compared to a conventional factory. Nowadays, there are also a few examples in Europe of research and industry projects, such as the miniaturized robot Pocket Delta (Codourey et al , 2006), the robot Parvus (Burisch et al , 2007; Ellwood et al , 2011) described below, miniaturized environments such as factory cells (Sitala et al , 2010) or handling devices for nano objects from Klocke Nanotechnik GmbH (Klocke, 2001). A more detailed discussion of the state of the art for precision robots and desktop factories can be found in previous articles of the authors (Burisch et al , 2007, 2011).…”

Section: Miniaturized Robots For Desktop Factoriesmentioning

confidence: 99%

Investigation and strategies for precision of miniaturized robots with micro gears

Burisch

Raatz²

2011

Assembly Automation

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PurposeEconomic, flexible and efficient micro production needs new miniaturized automation equipment (desktop factories). Micro assembly processes make demands on precision of miniaturized robots used in desktop factories and the driving concepts, as well as miniaturized machine elements. The purpose of this paper is to investigate miniaturized drives using micro harmonic drive gears, which are promising driving concepts.Design/methodology/approachThe analysis of the miniaturized precision robot Parvus (using micro harmonic drive gears) shows a good repeatability but also room for improvement concerning the path accuracy. Thereby the transmission error of the micro gears is identified as main disturbing influence concerning the robot's precision characteristics. Owing to the size reduction of the micro harmonic drive gear and the slightly different working principle compared to larger harmonic drive gears, the transmission error are more pronounced. Therefore, it is necessary to discuss approaches to compensate for this effect.FindingsA very promising approach is the use of a simplified model of the kinematic error within the robot control to compensate for this disturbing effect. Measurement data of the transmission error is mathematically transformed into the frequency domain and filtered to the most important frequency modes of the function. These modes are used to build up a simplified mathematic model of the gear transmission error. A final test using this model as compensation function demonstrates that it is possible to reduce the transmission error of the micro gears by more than 50 percent.Originality/valueThe paper presents the first investigation into compensation of the transmission error of micro harmonic drive gears.

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Architectures and Interfaces for a Micro Factory Concept

Cited by 7 publications

References 5 publications

APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors

APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors

Investigation and strategies for precision of miniaturized robots with micro gears

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