According to the objectives research in the Collaborative Research Center 562 is structured as follows:
Intra the project field A "Design and Modeling" the fundamentals for the design and modeling of parallel robots with adaptronic components for handling and assembly tasks are developed. In addition new real-time software concepts for the information processing tasks of project field B are necessary. Initial point of our investigations lies in the fact, that up to now there is now comprehensive systematics classifying parallel structures and evalutating the kinematic and dynamic models. By using knowledge-based-methods a methodical and complete classification of parallel robots becomes possible.The general basis for simulation, optimization, design layout and the robot control is the preperation of the kinematic and dynamic models of the parallel robots. With the help of the multibody simulation tool SIMPACK the modeling of parallel structures can be done very easily.
In project field B: "Robot Control and Information processing" basics for parallel robot control are developed. The promising possibilities of parallel structures cannot yield profit until the problems of the mechanical structure, e.g. singularities, collisions, limited range of motion of the passive joints, have been solved by the robot control; including modular software architecture and parallel specific robot programming. That means that control functions of conventional robot control technology must be combined with parallel robot specific allocative functions. In adition motion orientated robot programming language as well as visual aids are required. Considering the high dynamic applications new positioning and force control algorithms as well as a new real-time communication network have to be developed.
The main aim of the project field C "New Components" is the development of adaptronic elements and single components of the mechanical structure with regard to the parallel robot specific requirements. Due to the high reaction forces there is a demand of high stiffness and payload of the passive joints. By using new technologies, such as microtechnology, internal sensors for monitoring the passive joint states are developed.
