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A flexible joints microassembly robot with metamorphic gripper

Luca Bruzzone (DIMEC, University of Genova, Genova, Italy)
Giorgio Bozzini (DIMEC, University of Genova, Genova, Italy)

Assembly Automation

ISSN: 0144-5154

Article publication date: 3 August 2010

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Abstract

Purpose

The purpose of this paper is to report research which led to the realization of a robot for miniaturized assembly endowed with high‐accuracy and high‐operative flexibility.

Design/methodology/approach

The proposed solution is a microassembly system composed of a Cartesian parallel robot with flexure revolute joints and a modular gripper with metamorphic fingertips, capable of adapting their shape to different micro‐objects. The fingertips are realized by electro‐discharge machining from a sheet of superelastic alloy. Thanks to its modularity, the gripper can be arranged with two opposite fingers or three fingers placed at 120°. The fingers are actuated by a piezoelectric linear motor with nanometric accuracy.

Findings

The experimental results on the prototype are very interesting. The measured positioning accuracy of the linear motors is 0.5 μm; the end‐effector positioning accuracy is lower, due to the non‐perfect kinematics and hysteresis of the flexure joints; however, these effects can be compensated by the direct measurement of the end effector position or by visual feedback. The metamorphic design of the fingertips remarkably increases the grasping force; moreover, the grasping is more stable and reliable.

Practical implications

The introduction of this microassembly system can fulfil the needs of a wide range of industrial applications, thanks to its accurate positioning in a relatively large workspace. The cost of the machine is relatively low, thanks to its modularity.

Originality/value

The combination of Cartesian parallel kinematics, cog‐free linear motors and superelastic flexure revolute joints allows one to obtain high‐positioning accuracy; the metamorphic fingertips enhance the grasping effectiveness and flexibility.

Keywords

Citation

Bruzzone, L. and Bozzini, G. (2010), "A flexible joints microassembly robot with metamorphic gripper", Assembly Automation, Vol. 30 No. 3, pp. 240-247. https://doi.org/10.1108/01445151011061136

Publisher

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Emerald Group Publishing Limited

Copyright © 2010, Emerald Group Publishing Limited

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