A novel parallel robot for current microassembly applications

Abstract

Abstract\ud Purpose – Aims to discuss how a Cartesian parallel robot with flexure revolute joints can effectively perform miniaturized assembly tasks.\ud Design/methodology/approach – The results of the test and validation phase of a Cartesian parallel robot designed for miniaturized assembly are\ud shown. The workspace volume is a cube with 30mm side and the target accuracy is 1mm. Each of the three robot legs has a prismatic-planar\ud architecture, with a cog-free linear motor and a planar joint realized using ten superelastic flexure revolute joints. Flexure joints are adopted in order to\ud avoid stick-slip phenomena and reach high positioning accuracy; their patented construction is relatively low-cost and allows a quick replacement in\ud case of fatigue failure.\ud Findings – The tests on the prototype are very encouraging: the measured positioning accuracy of the linear motors is ^0.5mm; on the other hand,\ud the effects of unwanted rotations of flexure joints and hysteresis of the superelastic material are not negligible and must be properly compensated for in\ud order to fully exploit the potential performance of the machine.\ud Practical implications – The introduction of this robotic architecture can fulfil the needs of a wide range of industrial miniaturized assembly\ud applications, thanks to its accurate positioning in a relatively large workspace. The cost of the machine is low thanks to its extreme modularity.\ud Originality/value – The combination of Cartesian parallel kinematics, cog-free linear motors and superelastic flexure revolute joints allows one to\ud obtain very good positioning performance

Robotic mirror finishing KPV (key process variable) optimization in the aerospace industry

“…It is necessary to introduce smaller ranges of operating force control, in combination with other key process variables, which can enhance the overall surface texture. zaxis FIGURE 2-10 CARTESIAN COORDINATE ROBOT [34] The principle of the Cartesian coordinate robot is to be able to move in a 3D-space, using all the linear directions, being able to have a higher repeatability than the SCARA robot. It is used for soldering circuits, sorting elements, etc.…”

“…Openly, it might represent a step forward, as the employment of robotic solutions with higher devices capable of actuating and sensing at lower forces increment the possibilities of higher quality on the metal surfaces. zaxis FIGURE 2-10 CARTESIAN COORDINATE ROBOT [34] The principle of the Cartesian coordinate robot is to be able to move in a 3D-space, using all the linear directions, being able to have a higher repeatability than the SCARA robot. It is used for soldering circuits, sorting elements, etc.…”

“…It is used for soldering circuits, sorting elements, etc. DELTA ROBOT PRINCIPLE [35] LIST OF FIGURES Figure 1-1 A polishing example by a Fanuc robot [1] 10 Figure 1-2 Polishing Stages employed in the manufacturing industries [5] 13 [34] The principle of the Cartesian coordinate robot is to be able to move in a 3D-space, using all the linear directions, being able to have a higher repeatability than the SCARA robot. It is used for soldering circuits, sorting elements, etc.…”

“…It is used for soldering circuits, sorting elements, etc. DELTA ROBOT PRINCIPLE [35] LIST OF TABLES Table 1 Nomenclature and symbols Table 2 Classified entities -the manufacturing industrial categories [2] Table Roughness "Cutoff' Length Table 4 Surface Metrology Standards and their fields of application Table 5 Amplitude Parameters Table 6 Advantages and Disadvantages of Measurement Systems Table 7 INITIAL ROUGHNESS VALUES -FROM VENDOR Table 8 ROUGHNESS AVERAGE -INITIAL CONDITIONS -6 COUPONS Table 9 ROUGHNESS AVERAGE -INITIAL CONDITIONS -7-12 COUPONS Table 11 The Orthogonal Array (OA) wi KPVs & Levels; Two Cycles ("Scratches"); S-Scan path -L9 (34) Array Table 12 Experimentation Results of Ra Table 13 ANOVA results Table 14 The Hierarchy in experimentations to obtain Mirror Finishing Table 15 Output average with variance Table 16 SUS304 -Mechanical Properties 94 Table 17 Stavax Stainless Steel -MECHANICAL PROPERTIES 94 Table 18 ISO 4287 Surface Texture Table -Initial Condition 102 Table 19 ISO 4287 Surface Texture Table -Grit 600 103 Table 20 ISO 4287 Surface Texture Table -grit 1000 104 Table 21 ISO 4287 Surface Texture Table -20Jlm Abrasive 105 Table 22 ISO 4287 Surface Texture Table _ 3 JlM Abrasive 106 51Page zaxis FIGURE 2-10 CARTESIAN COORDINATE ROBOT [34] The principle of the Cartesian coordinate robot is to be able to move in a 3D-space, using all the linear directions, being able to have a higher repeatability than the SCARA robot. It is used for soldering circuits, sorting elements, etc.…”

“…DELTA ROBOT PRINCIPLE [35] NOMENCLATURE Table 1 indicates the nomenclature employed In this document for ease and understanding of the operations involved. zaxis FIGURE 2-10 CARTESIAN COORDINATE ROBOT [34] The principle of the Cartesian coordinate robot is to be able to move in a 3D-space, using all the linear directions, being able to have a higher repeatability than the SCARA robot. It is used for soldering circuits, sorting elements, etc.…”