1A1-F05 溶接ビード研削をロボット化するための能動工具ホルダーの開発 : 非線形力フィードバックを用いた剛性制御(生産システム・生産機器メカトロニクス)

概要

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To automate bead grinding tasks by industrial robots, compliant motion of a grinding tool is necessary. However, almost industrial robots are designed on the basis of position control schemes and are not appropriate for force control tasks. In order to solve the problem, this paper proposes an active tool holder which adjusts the tool position independently of robot motion. The developed active tool holder consists of a brushless DC motor, a ball screw and a parallel links mechanism. The translational motion of the grinding tool is realized by the compact mechanism. In order to realize the compliant motion, a stiffness control system using non-linear force feedback was designed. The system can change the stiffness of the tool holder according to its position and enables the effective bead grinding task. The developed system was applied to a simple bead grinding task to confirm the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2011-05-26