Abstract

We describe in this paper a small, fast, precise positioner which can be attached to the terminal link of a general purpose robot for assembly and inspection tasks. The device is a very compact combination of two-dimensional linear motor, flexure springs, position sensor and digital controller. Peak velocities and accelerations of 24.8 cm/sec and 8.7 g are achieved. Positioning resolution is 0.5 μm using the built-in sensor, and compliance can be varied dynamically by the digital controller loop gain. Design considerations, discussion of the major elements of the device, and performance measurements are presented.

Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call