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Adapted task configuration of a reconfigurable binary parallel robot with PRRRP structure

Published online by Cambridge University Press:  24 May 2012

Daniel Schütz ,
Annika Raatz  and
Jürgen Hesselbach
Daniel Schütz*
Affiliation:
Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Germany
Annika Raatz
Affiliation:
Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Germany
Jürgen Hesselbach
Affiliation:
Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Germany
*
*Corresponding author. E-mail: d.schuetz@tu-bs.de
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Summary

Binary-actuated robots offer a discrete workspace with the advantage that no feedback control is needed, as their actuators have two mechanical end-positions. This contribution focuses on a planar parallel robot with a PRRRP structure and driven by rodless pneumatic cylinders. Thus, the robot's workspace only features four destination points, which can be reached quickly and with high repeatability. Because of the fact that there is no possibility to reach in discrete points, an adapted task configuration is essential. The objective of this work is to establish and validate a synthesis and calibration technique for binary parallel robots with a PRRRP structure.

Keywords

Parallel manipulatorsModular robotsManufacturingAutomationDesignBinary robot
Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 285 - 293
Copyright
Copyright © Cambridge University Press 2012

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