The article focuses on methods for designing modular cable-driven orientation mechanisms that can be attached to robot systems that lack on rotational degrees of freedom. The approach yields assembly systems for high speed handling applications by reducing moving masses. For this purpose, a classification of feasible kinematic structures are given and resulting characteristics, like the orientation workspace, dexterity or its homogeneity, are analyzed. The mechanical design of a first prototype is subsequently presented along with a universal simulation tool for determining task-adapted powertrains using cables. Finally, results of first tests and possibilities for future developments are presented. © 2016 The Authors.
Simulation and Design of an Orientation Mechanism for Assembly Systems
2016-01-01
Procedia CIRP 44 (2016)
Article (Journal)
Electronic Resource
English
assembly robot , cable-driven , orientation mechanism , parallel kinematic , Assembly , Cables , Degrees of freedom (mechanics) , Kinematics , Powertrains , Riveting , Assembly robots , High-speed handling , Kinematic structures , Orientation workspace , Parallel kinematics , Rotational degrees of freedom , Design , ddc:600 , Konferenzschrift