Design of a Flexure-Based Active Fixture System for Precision Robotic Deburring

Abstract

This paper presents on the design, prototyping and testing of a flexure-based active workpiece fixture system for precision robotic deburring. Current industrial robotic manipulators suffer from poor positioning accuracy, which makes precision tasks such as deburring, polishing and grinding challenging. Together, the robotic manipulator and the proposed active work fixture will create a dual-stage positioning system for precision tasks where position/force control is crucial. The main application is robotic deburring, which demands positioning accuracy and high compliance over large cutting forces. This first prototype active fixture system is designed as a planar motion table that is supported by parallel flexures, driven by voice-coil actuators, and uses high-resolution laser displacement pickups facilitate accurate motion generation with great backdrivability for force control. The theory behind the proposed design is shown, and a prototype is then used to validate performance. Overall the prototype flexure stage achieves a total stroke of 1 mm and a bandwidth of 21 Hz.

Design of flexure-based modular architecture micro-positioning stage

“…This type of joints is usually machined monolithically by electric discharging machining(EDM) method, and takes the advantages of being without wear, lubrication and backlash Du et al 2016). Flexure-based mechanisms have been developed rapidly due to their significant benefits and the applications become increasingly prevalent in medical instruments and precise mechanical devices (Beck et al 2018(Beck et al -kota et al 2005.…”

Design of Reconfigurable Planar Micro-Positioning Stages Based on Function Modules

“…A flexure-based mechanism is a flexible structure that delivers the desired motion and force by undergoing elastic deformation which possesses the advantages of no wear, no friction, no need for lubrication and maintenance [7]- [9]. As a result, flexure-based mechanisms have been developed rapidly for exploring their diverse prevalent applications in medical instruments and precise mechanical devices [10]- [13].…”