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Proceedings Paper

Pseudoelastic flexure hinges in robots for microassembly
Author(s): Juergen Hesselbach; Annika Raatz
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Paper Abstract

The increasing tendency of products towards miniaturization makes the substitution of conventional hinges to flexure hinges necessary, since they can be manufactured almost arbitrarily small. On account of their multiple advantages like no backlash, no slip-stick-effects and no friction, their application is especially reasonable in high-precision robots for micro assembly. Particular pseudo-elastic shape memory alloys offer themselves as material for flexure hinges. Since flexible joints gain their mobility exclusively via the elastic deformation of matter, the attainable angle of rotation is strongly limited when using conventional metallic materials with approximately 0.4% maximal elastic strain. Using pseudo- elastic materials, with up to 15% elastic strain, this serious disadvantage of flexure hinges can be avoided. A further problem of flexible joints is their kinetic behavior since they do not behave exactly like conventional rotational joints. In order to examine the kinematics of the hinges an experimental set-up was developed whereby good compliance with theoretical computed values could be achieved. A three (+1) degree of freedom parallel robot with integrated flexure hinges is investigated showing its kinematic deviations to its rigid body model. The data of the kinematic model of the flexible joint can then be implemented into the control of this complaint mechanism in order to gain not only a higher repeatability but also a good absolute accuracy over the entire working space.

Paper Details

Date Published: 11 October 2000
PDF: 11 pages
Proc. SPIE 4194, Microrobotics and Microassembly II, (11 October 2000); doi: 10.1117/12.403696
Show Author Affiliations
Juergen Hesselbach, Technical Univ. Braunschweig (Germany)
Annika Raatz, Technical Univ. Braunschweig (Germany)


Published in SPIE Proceedings Vol. 4194:
Microrobotics and Microassembly II
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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