Reconfigurable parallel kinematic structures for spreading requirements

authored by: J. Schmitt, C. Stechert, Annika Raatz, Jürgen Hesselbach, Thomas Vietor, H. J. Franke
Abstract: Shorter product life cycles and high demand fluctuations require modular and flexible production technologies. One approach to face this challenge are reconfigurable robotic systems. This contribution shows a systematic design methodology, based on spreading requirements, to identify machine parts and the possibilities of reconfiguration for parallel robots. The benefits of different reconfiguration options are shown by a workspace analysis of a 2-degree of freedom planar parallel mechanism. Considering a relational network of requirements that rely on specific use cases, the capability of a reconfigured parallel kinematic structure becomes apparent. A pick-and-place and assembly task, which can now be accomplished by the same robotic system is demonstrated finally to demonstrate the practicability.
External Organisation(s): Technische Universität Braunschweig
Type: Conference contribution
Pages: 426-433
No. of pages: 8
Publication date: 12.2009
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Software, Mechanical Engineering, Computer Science Applications

BibTeX

@inproceedings{5d16e63ca9444164acd92af28dddaa65,
title = "Reconfigurable parallel kinematic structures for spreading requirements",
abstract = "Shorter product life cycles and high demand fluctuations require modular and flexible production technologies. One approach to face this challenge are reconfigurable robotic systems. This contribution shows a systematic design methodology, based on spreading requirements, to identify machine parts and the possibilities of reconfiguration for parallel robots. The benefits of different reconfiguration options are shown by a workspace analysis of a 2-degree of freedom planar parallel mechanism. Considering a relational network of requirements that rely on specific use cases, the capability of a reconfigured parallel kinematic structure becomes apparent. A pick-and-place and assembly task, which can now be accomplished by the same robotic system is demonstrated finally to demonstrate the practicability.",
keywords = "Design methodology, Parallel robots, Reconfiguration, Requirements management",
author = "J. Schmitt and C. Stechert and Annika Raatz and J{\"u}rgen Hesselbach and Thomas Vietor and Franke, {H. J.}",
year = "2009",
month = dec,
language = "English",
isbn = "9780889868137",
series = "Proceedings of the IASTED International Conference on Robotics and Applications",
pages = "426--433",
booktitle = "Proceedings of the 14th IASTED International Conference on Robotics and Applications, RA 2009",
note = "14th IASTED International Conference on Robotics and Applications, RA 2009 ; Conference date: 02-11-2009 Through 04-11-2009",
}