Abstract
This paper deals with the requirements for and the realization of a miniaturized parallel kinematic robot named APIS, which is driven by low-cost piezoelectric motors and thus designed for low-cost applications. After the need and potentials of this concept have been clarified, a detailed description of the development process is given. In doing so, kinematic aspects as well as the driving concept and the robot control, including the development of a suitable motor control with power stage, are described. In addition to the first functional prototype some performance measurements are presented, which show that the robot is able to obtain a repeatability of less than 34 μm. To provide better results, possibilities for future developments are identified, including optimized sensor feedback and motion control.
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Borchert, G., Burisch, A. & Raatz, A. APIS — A miniaturized robot for precision assembly with low-cost piezoelectric motors. Int. J. Precis. Eng. Manuf. 12, 629–634 (2011). https://doi.org/10.1007/s12541-011-0081-0
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DOI: https://doi.org/10.1007/s12541-011-0081-0