Fabrication of Non-Assembly Mechanisms and Robotic Systems Using Rapid Prototyping

In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms is presented. Using two Rapid Prototyping techniques, Stereolithography and Selective Laser Sintering, prototypes of mechanical mobile joints were fabricated. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator, (2) a four degree-of-freedom finger of a five-fingered robotic hand. These complex multi-articulated, multi-link, multi-loop systems have been fabricated in one step, without requiring assembly while maintaining their desired mobility. The feasibility and usefulness of Rapid Prototyping as a method for the fabrication of these non-assembly type mechanisms and robotic systems is the focus of this work.

[1]  Mark R. Cutkosky,et al.  TOLERANCE REPRESENTATION FOR MECHANISM ASSEMBLIES IN LAYERED MANUFACTURING , 1998 .

[2]  Terry Wohlers,et al.  Rapid Prototyping & Tooling State of the Industry: 1998 Worldwide Progress Report , 1998 .

[3]  S. Ashley,et al.  Rapid prototyping is coming of age , 1995 .

[4]  Brad David Geving.  Enhancement of stereolithography technology to support building around inserts , 2000 .

[5]  Terry T. Wohlers,et al.  State of the industry : 1999 worldwide progress report : rapid prototyping & tooling , 1999 .

[6]  Mark R. Cutkosky,et al.  Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing , 2000 .

[7]  Mahbubul Alam,et al.  Mechanism Design using Rapid Prototyping , 1999 .

[8]  David W. Rosen,et al.  Building around inserts: methods for fabricating complex devices in stereolithography , 2001 .

[9]  Mark R. Cutkosky,et al.  Error Analysis for the In-Situ Fabrication of Mechanisms , 2003 .

[10]  Constantinos Mavroidis,et al.  FABRICATION OF A ROBOTIC HAND USING RAPID PROTOTYPING , 2000 .

[11]  Constantinos Mavroidis,et al.  Rapid prototyping of robotic systems , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Mark R. Cutkosky,et al.  OPTIMAL POSE SELECTION FOR IN-SITU FABRICATION OF PLANAR MECHANISMS , 1999 .

[13]  Yonghua Chen,et al.  A robotic system for rapid prototyping , 1997, Proceedings of International Conference on Robotics and Automation.

[14]  Johan W. H. Tangelder,et al.  Robot machines rapid prototype , 1996 .

[15]  Steven Ashley,et al.  RP industry's growing pains , 1998 .

[16]  Richard H. Crawford,et al.  Solid freeform fabrication , 1999 .

[17]  Michael Binnard.  Design by Composition for Rapid Prototyping , 1999 .