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Authors
Nenad Pavlovic, Ralf Keimer, H.-J. Franke

Identifier
10.3182/20060906-3-IT-2910.00125

Index Terms
components of robotic systems,actuators,piezoelectric

Abstract
In order to use specific advantages of parallel kinematic structures, specific joints are needed. Requirements on joints for parallel robots are diverse and in different operating conditions often contradictory. Therefore conventional passive joints represent a compromise, which fulfils several conflicting requirements in an optimal way. This paper discusses the systematic development of adaptive joints, i.e. joints flexible to suit different operating conditions. In such joints it is possible to influence clearance or friction in the joints by means of adaptronic components. Based on a suggested design methodology two adaptronic swivel joints have been developed and are described in the following.

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