German Aerospace Centre

Technical University of Brunswick

Institute of Composite Structures
Institute of Engineering Design
Prof. Dr.-Ing. H.-J. Franke DLR and Adaptive Systems
Prof. Dr.-Ing. E. Breitbach

Adaptronic Joints for

Parallel Kinematic Structures

N. Pavlović

Benidorm, March, 2007

Robotic Systems for Handling and Assembly

 Introduction

Adaptronic Joints for

Parallel Kinematic Structures

1. Passive Joints

2. Adaptronic Joints – Development

3. Adaptronic Joints – Prototypes

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Robotic Systems for Handling and Assembly
 Passive Joints

Collaborative Research Center 562

Robotic Systems for Handling and Assembly

- High Dynamic Parallel Structures with Adaptronic Components -

www.tu-braunschweig.de/sfb562/

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Robotic Systems for Handling and Assembly
 Passive Joints

Requirements on Joints for Parallel Robots

1. Diverse

2. Contradictory

State of the Art

Cle
ar anc
e ri ctio n
F
Passive joints 

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Robotic Systems for Handling and Assembly
 Adaptronic Joints – Development

New Approach to Joint Design

Adaptive joints  Active Adaptability

Two Effect Principles:

1. Quasi-Statical Clearance Adjustment

2. High-Frequency Excitation

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Robotic Systems for Handling and Assembly
 Adaptronic Joints – Prototypes

Quasi-Statical Clearance Adjustment

8 9

1 – Central Ring

1
2 – Upper Part of the Housing
3 – Lower Part of the Housing
2
4 – Screw
3 5 – Piezo Ring Actuator
6 – Washer
4
7 – Angular Contact Spherical
5 Plain Bearing
8 – Shaft Shoulder
9 – Slotted Round Nut
7 6

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Robotic Systems for Handling and Assembly
 Adaptronic Joints – Prototypes

High-Frequency Excitation

1 6
1 – Piezo Ring Actuator
2 – Centering Bush
2 5 3 – Screw
4 – Holder
5 – Radial Sliding Bearing
3 4 6 – Axial Sliding Bearing

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Robotic Systems for Handling and Assembly
 Summary & Outlook

Summary

1. Conventional Joints – No Adaptability

2. Adaptronic Joints – Two Effect Principles

3. Prototypes

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Robotic Systems for Handling and Assembly
 Summary & Outlook

Outlook

1. Mathematical Models <=> Experiments

2. Real Parallel Structure

3. More DoF

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Robotic Systems for Handling and Assembly