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APIS - A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors
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  • APIS - A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors
  • APIS - A Miniaturized Robot for Precision Assembly with Low-Cost Piezoelectric Motors
저자명
Borchert. Gunnar,Burisch. Arne,Raatz. Annika
간행물명
International journal of precision engineering and manufacturing
권/호정보
2011년|12권 4호|pp.629-634 (6 pages)
발행정보
한국정밀공학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 ${mu}m$, To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.