Autor/Autorin: Bamberger Hagay
Dr. Hagay Bamberger and Dr. Alon Wolf were supervised by Prof.nMoshe Shoham at the Faculty of Mechanical Engineering at thenTechnion — Israel Institute of Technology. Their research isnfocused on robot structures and kinematics, as well asnapplications of parallel robots, especially in the medical field.
A micro parallel mechanism fabricated by MEMStechnology can be part of an electro-mechanicalsystem, for applications including switching,focusing, steering, or vibration stabilizing. Thecurrent investigation takes into consideration themicro manufacturing limitations, and suggests specialrobot architectures along with kinematic treatment torealize robots on the sub-millimeter scale. Thisapproach is denoted as MEMS kinematics, since itcomprises both MEMS constraints and fundamentalkinematic rules in mechanism design. The researchcontains two parts: (A) First, we suggest kinematicarchitectures of parallel mechanisms that aresuitable for MEMS fabrication. The mechanisms consistof only revolute joints and linear actuators locatedat the base. They allow the moving platform to have afull six degrees-of-freedom, or pure translationalmotion. (B) Second, we discuss large clearances atthe joints that may appear due to the manufacturingtechniques. Tools for analyzing the mechanismbehavior are introduced, enabling graphicalrepresentation of assembly modes changing, andexternal forces that the platform withstands with nomotion even in the presence of the joint clearances.
A micro parallel mechanism fabricated by MEMS
technology can be part of an electro-mechanical
system, for applications including switching,
focusing, steering, or vibration stabilizing. The
current investigation takes into consideration the
micro manufacturing limitations, and suggests special
robot architectures along with kinematic treatment to
realize robots on the sub-millimeter scale. This
approach is denoted as MEMS kinematics, since it
comprises both MEMS constraints and fundamental
kinematic rules in mechanism design. The research
contains two parts: (A) First, we suggest kinematic
architectures of parallel mechanisms that are
suitable for MEMS fabrication. The mechanisms consist
of only revolute joints and linear actuators located
at the base. They allow the moving platform to have a
full six degrees-of-freedom, or pure translational
motion. (B) Second, we discuss large clearances at
the joints that may appear due to the manufacturing
techniques. Tools for analyzing the mechanism
behavior are introduced, enabling graphical
representation of assembly modes changing, and
external forces that the platform withstands with no
motion even in the presence of the joint clearances.
Dr. Hagay Bamberger and Dr. Alon Wolf were supervised by Prof.
Moshe Shoham at the Faculty of Mechanical Engineering at the
Technion Israel Institute of Technology. Their research is
focused on robot structures and kinematics, as well as
applications of parallel robots, especially in the medical field.
Über den Autor
Dr. Hagay Bamberger and Dr. Alon Wolf were supervised by Prof.Moshe Shoham at the Faculty of Mechanical Engineering at theTechnion - Israel Institute of Technology. Their research isfocused on robot structures and kinematics, as well asapplications of parallel robots, especially in the medical field.
Klappentext
A micro parallel mechanism fabricated by MEMStechnology can be part of an electro-mechanicalsystem, for applications including switching,focusing, steering, or vibration stabilizing. Thecurrent investigation takes into consideration themicro manufacturing limitations, and suggests specialrobot architectures along with kinematic treatment torealize robots on the sub-millimeter scale. Thisapproach is denoted as MEMS kinematics, since itcomprises both MEMS constraints and fundamentalkinematic rules in mechanism design. The researchcontains two parts: (A) First, we suggest kinematicarchitectures of parallel mechanisms that aresuitable for MEMS fabrication. The mechanisms consistof only revolute joints and linear actuators locatedat the base. They allow the moving platform to have afull six degrees-of-freedom, or pure translationalmotion. (B) Second, we discuss large clearances atthe joints that may appear due to the manufacturingtechniques. Tools for analyzing the mechanismbehavior are introduced, enabling graphicalrepresentation of assembly modes changing, andexternal forces that the platform withstands with nomotion even in the presence of the joint clearances.
