Title :
A rapidly prototyped 2-axis positioning stage for microassembly using large displacement compliant mechanisms
Author :
Hoover, A.M. ; Avadhanula, S. ; Groff, R.E. ; Fearing, Ronald S.
Author_Institution :
California Univ., Berkeley, CA
Abstract :
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic and mechatronic devices
Keywords :
compensation; control engineering computing; interpolation; microassembling; moulding; piecewise linear techniques; position control; rapid prototyping (industrial); robotic assembly; large displacement compliant mechanisms; mechatronic devices; microassembly; piecewise linear interpolation compensation; precision positioning systems; pressure molding fabrication process; rapidly prototyped 2-axis positioning stage; subcentimeter robotic; Assembly systems; Fabrication; Hardware; Interpolation; Microassembly; Piecewise linear techniques; Prototypes; Robotic assembly; Robotics and automation; Temperature;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641726
