Authors:
Vladimir Kotev
;
Kostadin Kostadinov
and
Penka Genova
Affiliation:
Bulgarian Academy of Sciences, Bulgaria
Keyword(s):
Synthesis of incorporated macro-micro robots with closed kinematic chains, Kinematic geometry.
Related
Ontology
Subjects/Areas/Topics:
Hybrid Dynamical Systems
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronic Systems
;
Modeling, Simulation and Architectures
;
Precision Engineering
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Robots with cooperated regional macro-structures and local micro-structures are implemented in cell injection systems, production and control of micro-chips as well as other micro and nano technological operations. A structure for hybrid macro-micro robot with closed kinematic chains with piezo-actuator links is proposed. An approach for the synthesis of linkage manipulating mechanisms with two DoF is developed applying the method of Infinitesimally Close Positions. This approach allows for the synthesis of mechanisms that perform rectilinear trajectory within a specified section. The rectilinear trajectory may be obtained by controlling the actuators, but in the presence of accelerations which would decrease the precision of the trajectory.