仮想非ホロノミック拘束を用いた反力提示機能のあるスピニング加工用教示システムの開発

概要

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To make an operator feel reactive forces in teaching operations of metal spinning works with in smooth trajectories, a novel manufacturing system is proposed. Metal spinning is a plastic rotary-forming process in which a metal sheet is formed onto a rotating mandrel by forcing with a roller. A teaching device which is composed of a XY table and a handlebar with a force sensor was prototyped, instead of a joystick in common use. To conduct a shear spinning task from aluminum sheets of 0.8[mm] thickness to cone shells, the force-feedback function was implemented using a robotic bilateral master-slave control method based on a virtual internal model. While in a conventional spinning task of hemispherical parts, to smoothly operate the roller, a virtual non-holonomic model was applied, in reference to a kinematical constraint of a tool position in human-powered spinning works. It was verified that the enhanced system is easier to use than the simple bilateral master slave system through the forming experiments.