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Sinopsis
A micro parallel mechanism fabricated by MEMS technology can be part of an electro-mechanical system, for applications including switching, focusing, steering, or vibration stabilizing. The current investigation takes into consideration the micro manufacturing limitations, and suggests special robot architectures along with kinematic treatment to realize robots on the sub-millimeter scale. This approach is denoted as MEMS kinematics, since it comprises both MEMS constraints and fundamental kinematic rules in mechanism design. The research contains two parts: (A) First, we suggest kinematic architectures of parallel mechanisms that are suitable for MEMS fabrication. The mechanisms consist of only revolute joints and linear actuators located at the base. They allow the moving platform to have a full six degrees-of-freedom, or pure translational motion. (B) Second, we discuss large clearances at the joints that may appear due to the manufacturing techniques. Tools for analyzing the mechanism behavior are introduced, enabling graphical representation of assembly modes changing, and external forces that the platform withstands with no motion even in the presence of the joint clearances.
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Reseña del editor
A micro parallel mechanism fabricated by MEMS technology can be part of an electro-mechanical system, for applications including switching, focusing, steering, or vibration stabilizing. The current investigation takes into consideration the micro manufacturing limitations, and suggests special robot architectures along with kinematic treatment to realize robots on the sub-millimeter scale. This approach is denoted as MEMS kinematics, since it comprises both MEMS constraints and fundamental kinematic rules in mechanism design. The research contains two parts: (A) First, we suggest kinematic architectures of parallel mechanisms that are suitable for MEMS fabrication. The mechanisms consist of only revolute joints and linear actuators located at the base. They allow the moving platform to have a full six degrees-of-freedom, or pure translational motion. (B) Second, we discuss large clearances at the joints that may appear due to the manufacturing techniques. Tools for analyzing the mechanism behavior are introduced, enabling graphical representation of assembly modes changing, and external forces that the platform withstands with no motion even in the presence of the joint clearances.
Biografía del autor
Dr. Hagay Bamberger and Dr. Alon Wolf were supervised by Prof. Moshe Shoham at the Faculty of Mechanical Engineering at the Technion ¿ Israel Institute of Technology. Their research is focused on robot structures and kinematics, as well as applications of parallel robots, especially in the medical field.
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Kinematics of Micro Parallel Robots
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Kinematics of Micro Parallel Robots : Research on MEMS Kinematics
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VDM Verlag Dr. Müller, 2009
ISBN 10: 3639150236
ISBN 13: 9783639150230
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Taschenbuch. Condición: Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - A micro parallel mechanism fabricated by MEMStechnology can be part of an electro-mechanicalsystem, for applications including switching,focusing, steering, or vibration stabilizing. Thecurrent investigation takes into consideration themicro manufacturing limitations, and suggests specialrobot architectures along with kinematic treatment torealize robots on the sub-millimeter scale. Thisapproach is denoted as MEMS kinematics, since itcomprises both MEMS constraints and fundamentalkinematic rules in mechanism design. The researchcontains two parts: (A) First, we suggest kinematicarchitectures of parallel mechanisms that aresuitable for MEMS fabrication. The mechanisms consistof only revolute joints and linear actuators locatedat the base. They allow the moving platform to have afull six degrees-of-freedom, or pure translationalmotion. (B) Second, we discuss large clearances atthe joints that may appear due to the manufacturingtechniques. Tools for analyzing the mechanismbehavior are introduced, enabling graphicalrepresentation of assembly modes changing, andexternal forces that the platform withstands with nomotion even in the presence of the joint clearances. Nº de ref. del artículo: 9783639150230
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