Jan Wrege

Bio: Jan Wrege is an academic researcher from Braunschweig University of Technology. The author has contributed to research in topics: Parallel manipulator & Adhesive. The author has an hindex of 8, co-authored 20 publications receiving 179 citations. Previous affiliations of Jan Wrege include Siemens.

Aspects on design of high precision parallel robots

Abstract: This paper presents a concept for a micro‐assembly station and shows different possibilities for increasing the positioning accuracy. The main part of the station consists of a spatial parallel structure with three translational degrees of freedom. An additional rotational axis is integrated into the working platform. This structure is constructed with low friction joints, which are nearly free of backlash. The construction of these high precision joints is presented and the characteristics of the robot such as workspace and resolution are discussed. After this an approach for increasing the accuracy of parallel robots by integrating flexure hinges into the structure is described.

PARVUS – miniaturised robot for improved flexibility in micro production

Abstract: Purpose – Until now, the size range of most machines for precision assembly was much larger than the size of the pieces to be handled or the necessary workspace. Flexibly scalable miniaturised production machines can help to develop much more flexible micro production systems. The paper aims to describe the development of a micro‐parallel‐SCARA robot adapted in size to MEMS products.Design/methodology/approach – The robot consists of a miniaturised parallel structure, which provides a high level of accuracy in a workspace of 60 × 45 × 20 mm3. It has a base area of 130 × 170 mm2 and offers four degrees of freedom.Findings – Based on simulations, the degree of miniaturisation in terms of a smaller structure and a high level of accuracy is determined. The results show that a miniaturised hybrid robot with a plane parallel structure driven by miniaturised zero‐backlash gears and electric motors can reach a theoretical repeatability better than 1 μm.Research limitations/implications – The first prototype provi...

Micro bonding with non-viscous adhesives

Abstract: The new subproject B8 “Adhesive processing in batch technology for the manufacturing of microsystems” has the goal to compile bases for batchable joining techniques based on adhesive systems. This paper presents an alternative adhesive bonding system, which is able to join very small parts as well as relatively big parts with high accuracy requirements. The main advantages are the possibility to apply small volumes, to pre-apply the adhesive with a temporarily delayed joining procedure and extremely short set cycles. Therefore, using hot melts can be a technologically and economically interesting alternative for the assembly and packaging of MEMS.

Use of a hotmelt adhesive, pasty fixation compound for micro devices and detector for detecting ionizing radiation

Abstract: Use of a hotmelt adhesive is disclosed for fixing at least one micro device on a carrier. A pasty fixation compound is further disclosed for micro devices including a powdered hotmelt adhesive, an anti-flow additive and a solvent for the anti-flow additive. Furthermore, a method is disclosed for fixing at least one micro device on a carrier, a hotmelt adhesive being applied to a carrier, the micro device being positioned at a predetermined distance from the carrier and fixed by the hotmelt adhesive until a solid adhesive bond has been produced between the at least one micro device and the carrier by cooling the hotmelt adhesive, the gap produced being filled by an epoxy resin and the two devices being adhesively bonded securely by curing of the epoxy resin. Furthermore, a detector is disclosed for detecting ionizing radiation which has a multiplicity of detector elements disposed in a two-dimensional arrangement.

Grasping devices and methods in automated production processes

Abstract: In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.

A 6-DOF reconfigurable hybrid parallel manipulator

Abstract: This paper presents a case study on a reconfigurable hybrid parallel robot dubbed ReSl-Bot. It addresses the realm of reconfigurable 6-DOF parallel mechanisms, for sustainable manufacturing. It also features a self-reconfigurable architecture. A systematic analysis involving kinematics, constant orientation workspace, singularity and stiffness is developed in detail. Interesting features are discussed, revealing some unique characteristics of the studied architecture. A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices.

A novel XY-Theta precision table and a geometric procedure for its kinematic calibration

Abstract: Spatial precision positioning devices are often based on parallel robots, but when it comes to planar positioning, the well-known serial architecture is virtually the only solution available to industry. Problems with parallel robots are that most are coupled, more difficult to control than serial robots, and have a small workspace. In this paper, new parallel robot is proposed, which can deliver accurate movements, is partially decoupled and has a relatively large workspace. The novelty of this parallel robot lies in its ability to achieve the decoupled state by employing legs of a different kinematic structure. The robot repeatability is evaluated using a CMM and so are the actual lead errors of its actuators. A simple geometric method is proposed for directly identifying the actual base and mobile reference frames, two actuator's offsets and one distance parameter, using a measurement arm from FARO Technologies. While this method is certainly not the most efficient one, it yields a satisfactory improvement of the robot accuracy without the need for any background in robot calibration. An experimental validation shows that the position accuracy achieved after calibration is better than 0.339mm within a workspace of approximately 150mmx200mm.