Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators
Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators
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DOI：
10.1007/978-3-030-71151-1_7
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Pragna Mannam;Oliver Kroemer;F. Z. Temel
中科院分区：
文献类型：
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作者：
Pragna Mannam;Oliver Kroemer;F. Z. Temel
我们设计了一种使用3D打印和软材料的柔顺Delta机械手。我们的设计不同于传统的刚性Delta机器人，因为它通过低成本的3D打印更容易获得，并且由于合规性可以安全地与周围环境交互。这项工作的重点是平行四边形环节，这是德尔塔机器人设计的关键组成部分。我们通过对这些连杆进行位移，并观察合力和旋转角度，来表征这些连杆的十二个维度参数，例如梁和铰链厚度，以及两种材料刚度设置。然后将平行四边形的连杆集成到Delta机器人结构中，以测试Delta机构的行为，从而使末端执行器与机器人的底座保持平行。我们观察到，使用柔顺铰链导致了近三角形的行为，为制造和利用3D打印的柔顺三角机械手奠定了基础。
We design a compliant delta manipulator using 3D-printing and soft materials. Our design is different from the traditionally rigid delta robots as it is more accessible through low-cost 3D-printing, and can interact safely with its surroundings due to compliance. This work focuses on parallelogram links which are a key component of the delta robot design. We characterize these links over twelve dimensional parameters, such as beam and hinge thickness, and two material stiffness settings by displacing them, and observing the resulting forces and rotation angles. The parallelogram links are then integrated into a delta robot structure to test for delta mechanism behavior, which keeps the end-effector parallel to the base of the robot. We observed that using compliant hinges resulted in near-delta behavior, laying the groundwork for fabricating and utilizing 3D-printed compliant delta manipulators.