歯付ベルト駆動によるロボットアームの位置決め精度 : 第1アーム上の回転伝達誤差(OS1-1 伝動装置の基礎と応用(I))

概要

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Synchronous belt is used for the robot arm in order to carry FPD and wafer because it can be reduced weight, noise, and energy loss. However, it is known that the transmission error is generated by essential meshing between the belt and pulley teeth. In the present study, the transmission error in synchronous belt under the installation tension and quasi-static conditions was investigated both analytically and experimentally when 1st arm is rotated in bidirectional operation. In analysis of transmission error, ABAQUS version 6.3 was used. The computed transmission error agrees with the experimental results, confirming the applicability of the proposed analysis model for transmission error. It is found that the transmission error is generated by the change in contact state between the belt and pulley tooth flanks. When the pitch of fixed pulley is small and that of driven pulley is large, transmission error can be reduced.
2004-04-16