Conceptual and Detailed Structural Design of a 5 DOF Parallel Haptic Robot

Conceptual and Detailed Structural Design of a 5 DOF Parallel Haptic Robot

Vogel, J.G.

Munnig Schmidt, R.H. (mentor)

Mechanical, Maritime and Materials Engineering

Precision and Microsystems Engineering

2011-05-17

At the department Precision and Microsystems Engineering, currently a project is running to design a haptic system for the assembly of small micro-parts. One component of the haptic system is the master robot, the device that interacts with the human operator. This robot was invented by Patrice Lambert, a PhD student. He based the architecture on the well known Delta robot, which has three (translational) degrees of freedom. To allow grasping motions he added two extra degrees of freedom on top of the three translations, grippingmotion and a rotation. The architecture of the robot being defined, a prototype had to be designed. As this was a considerable project, the work was split into two graduation projects. One graduation project was done by fellow student Oscar van de Ven, the other project by myself. In the initial phase –the short assignment – we worked together on a literature study to derive the specifications for the haptic device that origin from the interaction with the human operator. Furthermore, we developed a number of mathematical tools and models to analyze the robot. The results can be found in a separate document, see [4]. During the second phase – the actual graduation project – the paths split and Oscar started to do research and design on the motors and the sensors, I myself started with the mechanical parts of the structure. The work consisted of a full design, so a conceptual design, followed by a detailed design ending up with drawings ready-to-use for manufacturing. The idea was that my part would also include some control that nicely fitted with my subject, so gravity and inertia compensation, but the time was quite short for this. At this moment the prototype – the “PentaGriph II prototype” – is not yet assembled. Next to this project another prototype of the robot – the “PentaGriph I prototype” – was build by a student of a technical school. For this project we did also some work, including assembly of the platform components and choice and assembly of the electronic equipment. This prototype is at this moment functional. This report will only be about the PentaGriph II prototype. Some design choices or considerations are based on the experiences with the PentaGriph I robot and will be mentioned in the text. It is necessary to render thanks to a number of people for their advice or help during the project. First of all my coach Patrice Lambert and professor Rob Munnig-Schmidt for their supervision. With Patrice, we had more than weekly meetings to talk about the method and the design. I would like to thank Hans Langen who coached us during the first months of the project. Jo Spronck and Just Herder gave advice about the prototype and themethod. Very valuable was also the help of Jan van Frankenhuyzen and Rob Luttjeboer, who took the time to look at the drawings and the design and gave advice at all kind of manufacturability related aspects. Last but not least I would like to than Oscar van de Ven for the fruitful cooperation during the project.

5 DOF
Haptic Robot

http://resolver.tudelft.nl/uuid:6c426bac-95dc-4afb-abb8-a5de2b015380

2011-06-24

Student theses

master thesis

(c) 2011 Vogel, J.G.