操り機能をもつインテリジェントジグシステム : 第2報, 操りの計画と基礎実験

概要

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Recently, industrial robots have been introduced at plants, and have contributed to automation. However, their tasks are limited to welding and painting. The tasks of fixing a target object have not been automated. Hence, in order to automate such fixation tasks, we have worked to develop an intelligent jig which has the functions of fixation and manipulation of a heavy target object, and have proposed a new mechanism (RBSF mechanism) which consists of a rotational base and several one-DOF fingers. Because of the specialization of the RBSF mechanism, we cannot assign arbitrary acceleration or angular acceleration to the target object. In this paper, we discuss motion planning based on the analysis of kinematics and dynamics described in the first paper. The results of the simulation and experiment to verify the feasibility of the manipulation by the RBSF mechanism are shown.
社団法人日本機械学会の論文
1994-07-25