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research
Simulation and Design of an Orientation Mechanism for Assembly Systems
Authors
Gunnar Borchert
Daniel Krebs
Annika Raatz
Publication date
1 January 2016
Publisher
Amsterdam : Elsevier B.V.
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Abstract
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
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Last time updated on 05/06/2019
Institutionelles Repositorium der Leibniz Universität Hannover
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oai:www.repo.uni-hannover.de:1...
Last time updated on 13/04/2017