微小部品組立ロボットの運動計画法(第1報) : 3本マイクロアームによる直方体操作

概要

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To assemble the micro-parts includes many varieties of the operations. So, to realize easy assembling, the "Imaginary triangle plate" algorithm is proposed. The shape and size of micro-parts are simplified using a proposed plate. The vertices of an imaginary triangle plate are selected as the handling points using triple micro-arms; this collision avoidance control operation can be replaced with the motion control of proposed triangle plate. Also, this plate is operated with each arm simultaneously. Then, an assembling robot with triple micro-arms has been developed, in which these arms move simultaneously in a single working area. To reduce the inertia of the arm and motor, each arm is driven through the five-bar linkage mechanism. Also to generate a vertical motion, this linkage is attached on a swing motion mechanism. The proposed algorithm is verified using a prototype system. The testing micro rectangular parts can be operated in an arbitrary three-dimensional working area.
公益社団法人精密工学会の論文
2004-07-05