PKM Mechatronic Clamping Adaptive Device. (22nd April 2015)

• Record Type: Journal Article
• Authors: Borboni, Alberto; Aggogeri, Francesco; Merlo, Angelo; Pellegrini, Nicola; Amici, Cinzia
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 4(2015)
• Publication Date: 2015-04-22
• Subjects: PKM -- mechatronic -- fixturing -- micromachining compensation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60052
• Languages: English
• ISSNs: 1729-8806

Abstract

This study proposes a novel adaptive fixturing device based on active clamping systems for smart micropositioning of thin-walled precision parts. The modular architecture and the structure flexibility make the system suitable for various industrial applications. The proposed device is realized as a Parallel Kinematic Machine (PKM), opportunely sensorized and controlled, able to perform automatic error-free workpiece clamping procedures, drastically reducing the overall fixturing set-up time. The paper describes the kinematics and dynamics of this mechatronic system. A first campaign of experimental trails has been carried out on the prototype, obtaining promising results.