Kinematics of Micro Parallel Robots

ISBN-13: 9783639150230 / Angielski / Miękka / 2009 / 156 str.

Hagay Bamberger

Opis

A micro parallel mechanism fabricated by MEMStechnology can be part of an electro-mechanicalsystem, for applications including switching,focusing, steering, or vibration stabilizing. Thecurrent investigation takes into consideration themicro manufacturing limitations, and suggests specialrobot architectures along with kinematic treatment torealize robots on the sub-millimeter scale. Thisapproach is denoted as MEMS kinematics, since itcomprises both MEMS constraints and fundamentalkinematic rules in mechanism design. The researchcontains two parts: (A) First, we suggest kinematicarchitectures of parallel mechanisms that aresuitable for MEMS fabrication. The mechanisms consistof only revolute joints and linear actuators locatedat the base. They allow the moving platform to have afull six degrees-of-freedom, or pure translationalmotion. (B) Second, we discuss large clearances atthe joints that may appear due to the manufacturingtechniques. Tools for analyzing the mechanismbehavior are introduced, enabling graphicalrepresentation of assembly modes changing, andexternal forces that the platform withstands with nomotion even in the presence of the joint clearances.

O autorze

Dr. Hagay Bamberger and Dr. Alon Wolf were supervised by Prof.
Moshe Shoham at the Faculty of Mechanical Engineering at the
Technion Israel Institute of Technology. Their research is
focused on robot structures and kinematics, as well as
applications of parallel robots, especially in the medical field.