Abstract
In order to take advantage of parallel kinematic structures, the development of specific and optimized structure components (rods, passive joints) is becoming increasingly necessary. Accordingly, in this chapter the development and implementation of novel joint concepts for parallel structures is discussed. The focus lies on two different joint types: firstly, conventional passive joints and secondly, adaptive joints with integrated piezo-actuators. Based on the specific design methodology, different joint prototypes are developed and tested. By drawing on the test results, it is shown how the novel joints influence performance of the whole robot system.
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Pavlović, N., Otremba, R., Inkermann, D., Franke, HJ., Vietor, T. (2010). Passive and Adaptive Joints for Parallel Robots. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_24
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DOI: https://doi.org/10.1007/978-3-642-16785-0_24
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