Jean‐Philippe Bacher, Cédric Joseph and Reymond Clavel
High precision robots are often used for complex assembly or positioning tasks. One way to achieve high motion precision is to design mechanical systems based on flexure joints…
Abstract
High precision robots are often used for complex assembly or positioning tasks. One way to achieve high motion precision is to design mechanical systems based on flexure joints. Flexure joints (or flexures) utilize the elastic properties of matter, which brings avoidance of dry friction. Nanometer scale motions are then possible, without wear, mechanical play or particle emission. Leading to high performance systems in terms of dynamics, parallel kinematics are useful for high precision robot design. Two research projects are presented in this paper. The first one has already led to the realization of a micro electro‐discharge machine (μ‐EDM), and the second one’s goal is to generate a family of compact ultra‐high precision manipulators.
Details
Keywords
This paper aims to describe the topic of robot kinematics and provide a modern machine.
Abstract
Purpose
This paper aims to describe the topic of robot kinematics and provide a modern machine.
Design/methodology/approach
The paper examines, in brief, kinematics and robot kinematics, classes, constraints and chains to provide an introduction. An example shows how robot kinematics can benefit the design of advanced machines for industry.
Findings
Robot kinematics, in conjunction with mathematics and other disciplines, lead to a greater understanding of robotics design and control.
Originality/value
This paper discusses robot kinematics in brief as a robot design topic in its own right, as well as presenting the Gantry‐Tau robot as a new and interesting kinematic development. As such, the article should be of general interest to robotics engineers and designers.