The design of innovative robotic devices reflects the behavior of the modern competitive markets, where the customer’s expectations dramatically increased. Many researches aim to apply innovative solutions to obtain high machining performances and quality of products. This paper deals to present a 3-DOFs parallel robotic device for miniaturized object manipulation and machining. The proposed device has multi-purpose applications and it consists of an actuation system based on preloaded piezoactuators with high dynamics and force, that automatically recover the workpiece distortions or positioning errors due to fixture set-up or machining vibrations. The study presents the main concept of the robotic device, highlighting the main functionalities and components, that impact on the system performance. Moreover, an analytical model is presented and validated using FE analysis, confirming the effectiveness of the adopted approach to control the device
Design of a 3-DOFs parallel robotic device for miniaturized object machining
Aggogeri F.
;Borboni A.;Merlo A.;Pellegrini N.;Tiboni M.
2019-01-01
Abstract
The design of innovative robotic devices reflects the behavior of the modern competitive markets, where the customer’s expectations dramatically increased. Many researches aim to apply innovative solutions to obtain high machining performances and quality of products. This paper deals to present a 3-DOFs parallel robotic device for miniaturized object manipulation and machining. The proposed device has multi-purpose applications and it consists of an actuation system based on preloaded piezoactuators with high dynamics and force, that automatically recover the workpiece distortions or positioning errors due to fixture set-up or machining vibrations. The study presents the main concept of the robotic device, highlighting the main functionalities and components, that impact on the system performance. Moreover, an analytical model is presented and validated using FE analysis, confirming the effectiveness of the adopted approach to control the deviceI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
