Cambio – A Miniaturized Tool Changer for Desktop Factory Application

Micro robot for rotary desktop assembly line

“…These two arms are mounted on a rotary stage Φ and are only used for a pure radial motion R (hence, the name "ΦR", which is pronounced like the number "4" in German, corresponding to its degrees of freedom). This configuration uncouples the rotary and radial motions and is the main difference compared to the similar robots Parvus or Apis [5] and the H-SCARA of Tampere University of Technology [6]. In fact, the kinematics of the ΦR robot can be divided into three stages:…”

“…Surrounding production modules 5 Space for manipulator 6 Safety Access System SAS (Inlet / Outlet of components) 7 Working volume with laminar and horizontal air flow • Flat robot design: The low-ceilinged shape of the production cell is needed to compensate for the radial expansion of the clean airflow. Therefore, the robot thickness has to be adapted, as its height reduces the residual working volume and represents a flow obstruction.…”