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Development of a 3-DOF Compliant Robotic Local Structure with Large Twist Angle

  • S. KurtenbachEmail author
  • J. Siebrecht
  • D. Schoenen
  • M. Hüsing
  • B. Corves
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 30)

Abstract

This paper presents the development of a compliant wrist joint (robotic local structure) enabling large twist angles. The result is a spherical joint with three degrees of freedom whose development is introduced starting with a general overview on suited compliant joints and the derivation of the requirements. A systematic structural synthesis and subsequently a dimensional synthesis using the pseudo-rigid-body-model is conducted. Finally, the CAD-Model is shown. The compliant robotic local structure is used in a handling system developed at the IGM facilitating a quick adaption of the kinematic structure to a new motion task through a modular and versatile concept. Several parallel kinematic robotic arms integrate an object in the kinematic structure by adapting to the object with the end-effectors.

Keywords

Large twist angle Compliant robotic local structure Pseudo-rigid-body-model Wrist joint Reconfigurable handling system Spherical linkage 

Notes

Acknowledgments

As part of this work was carried out at the Cluster of Excellence at RWTH Aachen “Integrative production technology for high-wage countries (EXC 128)”; the authors would like to thank The German Research Foundation for their support.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • S. Kurtenbach
    • 1
    Email author
  • J. Siebrecht
    • 1
  • D. Schoenen
    • 1
  • M. Hüsing
    • 1
  • B. Corves
    • 1
  1. 1.Institut für Getriebetechnik und MaschinendynamikRWTH Aachen UniversityAachenGermany

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