1. Robotic Systems for Handling and Assembly N. Pavlović Adaptronic Joints for Parallel Kinematic Structures Technical University of Brunswick Institute of Engineering Design Prof. Dr.-Ing. H.-J. Franke German Aerospace Centre Institute of Composite Structures and Adaptive Systems Prof. Dr.-Ing. E. Breitbach Benidorm, March, 2007

2. 1 Robotic Systems for Handling and Assembly Adaptronic Joints for Parallel Kinematic Structures 1.Passive Joints 2.Adaptronic Joints – Development 3.Adaptronic Joints – Prototypes Introduction

3. 2 Robotic Systems for Handling and Assembly - High Dynamic Parallel Structures with Adaptronic Components - Collaborative Research Center 562 www.tu-braunschweig.de/sfb562/ Passive Joints

4. 3 Robotic Systems for Handling and Assembly Requirements on Joints for Parallel Robots 1.Diverse 2.Contradictory State of the Art Passive joints  Passive Joints Clearance Friction

5. 4 Robotic Systems for Handling and Assembly Two Effect Principles : 1.Quasi-Statical Clearance Adjustment 2.High-Frequency Excitation New Approach to Joint Design Adaptive joints  Active Adaptability Adaptronic Joints – Development

6. 5 Robotic Systems for Handling and Assembly 1 – Central Ring 2 – Upper Part of the Housing 3 – Lower Part of the Housing 4 – Screw 5 – Piezo Ring Actuator 6 – Washer 7 – Angular Contact Spherical Plain Bearing 8 – Shaft Shoulder 9 – Slotted Round Nut 2 1 3 4 5 7 6 9 8 Quasi-Statical Clearance Adjustment Adaptronic Joints – Prototypes

7. 6 Robotic Systems for Handling and Assembly 1 – Piezo Ring Actuator 2 – Centering Bush 3 – Screw 4 – Holder 5 – Radial Sliding Bearing 6 – Axial Sliding Bearing 1 2 3 6 4 5 High-Frequency Excitation Adaptronic Joints – Prototypes

8. 7 Robotic Systems for Handling and Assembly Summary 1.Conventional Joints – No Adaptability 2.Adaptronic Joints – Two Effect Principles 3.Prototypes Summary & Outlook

9. 8 Robotic Systems for Handling and Assembly Outlook 1.Mathematical Models Experiments 2.Real Parallel Structure 3.More DoF Summary & Outlook