Formalized design methods and component-related fundamentals for the development of fold based robots

由于成本压力、当今全球市场的竞争形势以及需求不断增长的新产品开发，当前在运动技术和机器人技术方面的努力特别是针对更强大的操纵器和机器人。制造企业的答案是提高生产率。然而，由此产生的更短的周期时间和更高效的工艺进一步增加了需求。最终，这导致对设计和构造的要求，这些要求只能在有限程度上由具有经典串行或并行运动关节结构的先前机器人硬件来满足。例如，在生产技术中，为了实现精确的串行机器人，需要大量的结构部件，这导致更大的惯性效应和相关的运行速度下降。然而，更硬和更快的并联机器人，如三角运动学或六足机器人，与它们的尺寸相比，工作区域很小。因此，本研究项目的目的是系统的发展，以及发展一个新的一类机器人的技术上可用的折叠组件相关的基本原理。为此目的，技术折叠通过具有规定厚度的分段（板结构）实现，并考虑轻质结构方法（夹层设计等）。这些区段具有非常高的轴向表面惯性矩的优点，这一方面导致高刚度，另一方面导致机器人的自动轻量化构造。此外，系统的不确定性的静态超确定性的折叠是使用预期的刚度相比，经典的，静态确定的关节结构使用到目前为止，额外的增加。由此产生的基于折叠的机器人的更高精度使得例如可以实现高负载应用，其中先前的并联运动学已经达到其极限。由于可折叠系统总是被考虑与紧凑折叠配置和大型展开配置之间的可变性相关，因此与以前的系统相比，可折叠机器人系统还可以具有更大的工作空间和更紧凑的设计。例如，对于微创手术中使用的紧凑型医疗技术工具而言，这种特征是令人感兴趣的。要实现上述优点（更高的刚度和精度，更大的工作空间）以及它们在技术运动任务中的特定任务应用，需要开发基于折叠的机器人的形式化设计方法和与组件相关的基本原理，而这些方法和原理目前还不可用。这将在本项目框架内实现。

Due to cost pressure, the competitive situation on today's global markets and new product developments with increasing requirements, current efforts in motion technology and robotics in particular are aimed at ever more powerful manipulators and robots. The answer of the manufacturing companies is an increase in productivity. However, the resulting ever shorter cycle times and more efficient processes further increase the demands. Ultimately, this results in requirements for designs and constructions that can only be fulfilled to a limited extent by previous robot hardware with classic serial or parallel kinematic joint structures. For example, massive structural parts are required for the realization of precise serial robots in production technology, which results in greater inertia effects and the associated drop in operating speeds. However, stiffer and faster parallel robots, such as delta kinematics or hexapods, have a small working area compared to their size. The aim of this research project is therefore the systematic development as well as the development of component-related fundamentals of a new class of robots based on technically usable foldings. For this purpose, technical foldings are realized by segments with defined thickness (plate structures) and under consideration of lightweight construction methods (sandwich design, etc.). These segments have the advantage of very high axial surface moments of inertia, which results in high stiffness on the one hand and automatic lightweight construction of the robot on the other. In addition, the system-immanent property of static overdeterminacy of foldings is to be used by expecting an additional increase in stiffness compared to classical, statically determined joint structures used so far. The resulting higher accuracy of the fold-based robot makes it possible, for example, to implement high-load applications in which previous parallel kinematics have reached their limits. Due to the fact that foldable systems are always considered in connection with a changeability between compact folded and large unfolded configurations, foldable robot systems can also have larger workspaces and a more compact design compared to previous systems. Such a feature is of interest, for example, for compact medical technology tools used in minimally invasive surgery.A realization of the mentioned advantages (higher stiffness and accuracy, larger working space) as well as their task-specific application in technical motion tasks requires the development of formalized design methods and component-related fundamentals for fold-based robots that are not yet available. This is to be realized within the framework of this project.