Micro positioning system with 3 DOF for a dynamic compensation of standard robots

摘要

Presents our approach to upgrading standard robots in industrial use with a 3 DOF micro positioning system (MPS) to compete with expensive high precision robots in assembling tasks. The autonomous MPS consisting of different microsystems is placed between the robot's hand and the gripper. The static positioning and feeding displacements as well as the tolerances of the object's dimensions and the dynamic robot vibrations are sensed with the MPS's miniature sensor system. The correction movement is done by the MPS's micro piezo actuators. Thus reaching an accuracy of about 10 microns and a reduction of the mounting cycle time. The high precision can be reached because the MPS is focused on the movement of the object to be mounted and the position of the target. The MPS is a flexible system, that can be used with different kinds of robots, because neither the robot's control system nor the robot itself has to be changed.