| Project/Area Number |
10650441
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Toyota Technological Institute |
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Principal Investigator |
TSUCHIDA Nuio Toyota Technological Institute, Faculty or Engineering Professor, 工学部, 教授 (40023246)
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| Co-Investigator(Kenkyū-buntansha) |
HAYAKAWA Soichiro Toyota Technological Institute, Faculty or Engineering, Research Associate, 工学部, 助手 (50288552)
今井 孝二 豊田工業大学, 工学部, 教授 (30231161)
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| Project Period (FY) |
1998 – 1999
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| Project Status |
Completed (Fiscal Year 1999)
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| Budget Amount *help |
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 1999: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1998: ¥800,000 (Direct Cost: ¥800,000)
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| Keywords | Cross type PSD sensor / Peg-in-hole / Moving object / Vibration end-effecter |
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| Research Abstract |
We developed the shaft inserting system with the cross type PSD sensor for the moving object. To improve the shaft inserting performance of this system to the moving object, we proposed and developed the vibrating end-effector for the shaft inserting to the moving object in this research. The end-effector is 124 mm of the long and 521g of the weight. The shaft with 8 magnetic plates in hung by 8 tension springs. The electromagnetic force produced by the 8 electromagnet around those plates vibrates the shaft.
In the case of the shaft inserting, if there are larger position error than the clearance between the shaft and the target hole, the end-effect is pushed by the surface of the object with target hole, and the capacitance of the electrostatic capacity sensor is changed. When the controller detects the change, the electromagnets actuate the shaft spirally. If the position error between the shaft and the target hole is within 500 μm, the vibrating end-effector can insert the shaft. The old system with RCC end-effector could insert the shaft into the hole with the clearance of 100μm at a speed of 40mm/s. The new system with the vibrating end-effector could achieve the shaft inserting work for the hole with the clearance of 50μm at a speed of 80 mm/s.
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