Material and manufacturing of 3D model used in robotic end-effector

Soomro, Zulfiqar Ali

doi:10.1016/j.matdes.2004.12.004

Cited by 1 publication

(1 citation statement)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The current approach to reduce the impact forces is to couple the gripper to the drive unit of the placement device while leaving 1 DOF unconstrained using a flexible part, wherein the gripper that contacts the component, has a relatively low mass [11][12][13][14][15][16][17][18][19]. In this setup the drive unit will move relatively to the gripper at the end of the component placement.…”

Section: Introductionmentioning

confidence: 99%

Statically Determined Gripper Construction

Plak¹,

Görtzen²,

Puik³

Micro-Assembly Technologies and Applications

View full text Add to dashboard Cite

The current approach to reducing impact forces during component placement in micro-assembly is to couple the gripper with 5 Degrees Of Freedom (DOF) to the drive unit of the placement device, wherein the mass of the gripper has been reduced maximally. At the end of the placement motion the drive unit will move relatively to the gripper, as linear as possible given the limitations of the construction. During this motion generally stress builds up in the gripper and it becomes over-constrained due to the extra constraints added by the contact between gripper/component and the substrate. Due to this tension the gripper will start vibrating when the gripper rebounces or when the component is released, resulting in significant placement inaccuracies. A solution has been found to prevent the gripper from becoming over-constrained by adding an extra tilting member to the gripper, leading to a reduction of the placement inaccuracies.

show abstract