Fold-based Complex Joints for a 3 DoF 3R Parallel Robot Design

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1936–1941

Abstract

This contribution demonstrates the usage of fold-based joints to create a novel 3 DoF 3R(RPaR) parallel robot design. Multiple folding mechanisms are introduced, fulfilling the function of revolute, prismatic, and spherical joints. Folding mechanisms are here tested regarding their applicability in parallel kinematic robots taking advantage of beneficial properties such as increased stiffness, flat-foldability and compressed states, easy cleaning as well as lightweight designs. The designed delta robot structure is then analysed for its motion behaviour, workspace dimensions and validated by a 3D printed model. Further, scalability possibilities are presented.

Authors 5

1. Judith Merz Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory, Machine Dynamics and Robtics (IGMR), RWTH Aachen University,Aachen,Germany,52062

2. Franz Irlinger

   Technical University of Munich

   Affiliation as printed

   Institute of Micro Technology and Medical Device Technology (MIMED), Technical University of Munich,Garching,85748

3. Tim Christian Lueth

   Technical University of Munich

   Affiliation as printed

   Institute of Micro Technology and Medical Device Technology (MIMED), Technical University of Munich,Garching,85748

4. Janik Pfitzner Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory, Machine Dynamics and Robtics (IGMR), RWTH Aachen University,Aachen,Germany,52062

5. Burkhard J. Corves Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory, Machine Dynamics and Robtics (IGMR), RWTH Aachen University,Aachen,Germany,52062