TY - GEN
T1 - AUTOMATED DESIGN OF FDM-PRINTABLE SNAKE-LIKE COMPLIANT MECHANISMS WITH PREDEFINED END-EFFECTOR POSES
AU - Schiele, Simon
AU - Rehekampff, Christoph
AU - Schroeffer, Andreas
AU - Schweigert, Laurin
AU - Lueth, Tim C.
N1 - Publisher Copyright:
Copyright © 2022 by ASME.
PY - 2022
Y1 - 2022
N2 - High prices and complex control are still an inhibitor to the wider use of robotic systems. Additive Manufacturing in combination with automated design, on the one hand, enables the low-cost production of robots and mechanism and, on the other hand, creates new possibilities for fabricating innovative systems, such as continuum robots and compliant mechanisms. The problem thereby is not the manufacturing itself but the design of the necessary individual models specified for certain additive manufacturing processes, which is complex and needs expert knowledge. This work deals with the design of snake-like compliant mechanisms and proposes an automated framework to design mechanisms for specified end-effector poses. Using rolling-contact flexure joints designed for fused deposition modeling (FDM) 3D printing, flexible segments are developed, which can be assembled to form a task-specific mechanism. Only with the specification of the end-effector configurations and few geometric boundary conditions all surface models for printing this mechanism with FDM are generated automatically. Furthermore, an approach to improve the accuracy of these mechanisms, regardless of the used 3D printer, is presented.
AB - High prices and complex control are still an inhibitor to the wider use of robotic systems. Additive Manufacturing in combination with automated design, on the one hand, enables the low-cost production of robots and mechanism and, on the other hand, creates new possibilities for fabricating innovative systems, such as continuum robots and compliant mechanisms. The problem thereby is not the manufacturing itself but the design of the necessary individual models specified for certain additive manufacturing processes, which is complex and needs expert knowledge. This work deals with the design of snake-like compliant mechanisms and proposes an automated framework to design mechanisms for specified end-effector poses. Using rolling-contact flexure joints designed for fused deposition modeling (FDM) 3D printing, flexible segments are developed, which can be assembled to form a task-specific mechanism. Only with the specification of the end-effector configurations and few geometric boundary conditions all surface models for printing this mechanism with FDM are generated automatically. Furthermore, an approach to improve the accuracy of these mechanisms, regardless of the used 3D printer, is presented.
KW - Additive Manufacturing
KW - automated design
KW - compliant mechanism
KW - continuum robot
KW - fused deposition modeling
KW - mechanism design
UR - https://www.scopus.com/pages/publications/85148700379
U2 - 10.1115/IMECE2022-96568
DO - 10.1115/IMECE2022-96568
M3 - Conference contribution
AN - SCOPUS:85148700379
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Advanced Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2022 International Mechanical Engineering Congress and Exposition, IMECE 2022
Y2 - 30 October 2022 through 3 November 2022
ER -