000149412 001__ 149412
000149412 005__ 20180128022438.0
000149412 037__ $$aCONF
000149412 245__ $$aA new concept of modular kinematics to design ultra-high precision flexure-based robots
000149412 269__ $$a2010
000149412 260__ $$c2010
000149412 336__ $$aConference Papers
000149412 520__ $$aThis work deals with the kinematic conception and the mechanical design of ultra-high precision robots, which are at present costly to develop, both in time and money. The aim of this paper is thus to introduce a new modular concept of kinematics which allows to significantly reduce the time-to-market and a new double-stage flexure-based pivot. Regarding the modular concept of kinematics, this ‘robotic Lego’ consists in a finite number of building bricks allowing to rapidly design a high precision machine and to easily modify its mobility. The realised mock-up of a 4-DOF (Degrees of Freedom) robot, transformable into a 5-DOF one, validates this concept and the mechanical design of its bricks. Flexure hinges are used to achieve the aimed sub-micrometer precision; however, existing flexure-based rotary joints are not able to fulfil the requirements of some applications, as they present a too low angular stroke and a parasitic motion of their centre of rotation. Thus, this paper also introduces a new double-stage pivot based on blades working in torsion; experiments performed on a prototype allow to validate its principle and the simulation model used for its development.
000149412 6531_ $$aparallel robotics
000149412 6531_ $$ahigh-precision robotics
000149412 6531_ $$akinematics
000149412 6531_ $$amodularity
000149412 6531_ $$aflexure hinges
000149412 6531_ $$aflexure torsion pivot
000149412 6531_ $$aWire-EDM
000149412 700__ $$0242139$$aRichard, Murielle$$g160308
000149412 700__ $$0242132$$aClavel, Reymond$$g104789
000149412 7112_ $$a41st International Symposium of Robotics, 6th German Conference on Robotics$$cMunich, Germany$$dJune 7-9, 2010
000149412 773__ $$q940-947$$tProceedings for the joint conference of the 41st International Symposium of Robotics and the 6th German Conference on Robotics
000149412 8564_ $$iINTERNAL$$uhttps://infoscience.epfl.ch/record/149412/files/p940-richard.pdf$$xPUBLIC$$zn/a
000149412 909C0 $$0252016$$pLSRO
000149412 909CO $$ooai:infoscience.tind.io:149412$$pSTI$$pconf
000149412 917Z8 $$x160308
000149412 917Z8 $$x160308
000149412 937__ $$aEPFL-CONF-149412
000149412 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000149412 980__ $$aCONF