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Fabrication of higher precision planer multi-joint positioning mechanism using high-performance joint elements and research on its limit of positioning accuracy

Research Project

Project/Area Number 17560223
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionSHINSHU UNIVERSITY

Principal Investigator

FUKADA Shigeo  Shinshu University, Faculty of Engineering, Professor, 工学部, 教授 (70156743)

Project Period (FY) 2005 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 2006: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2005: ¥2,000,000 (Direct Cost: ¥2,000,000)
Keywordsprecision positioning / planer multi-joint mechanism / SCARA-type manipulator / joint mechanism / air bearing
Research Abstract

Though planer multi-joint positioning mechanism (SCARA-type manipulators) are in great demand on precision assembly lines, the positioning accuracy of current manipulators is much lower than Cartesian-type positioning mechanism. However, they have superior availability to assembly lines in factories because they have such a wide work range for such a small setting area. And they are expected to work as coordinate measuring machines in assembly lines. This study develops an novel planer multi-joint mechanism using high-performance joint elements, so as to realize an SCARA-type manipulator with 1 μm level positioning accuracy over working range of 300 × 200 mm. Moreover, it aims at researching the limits of positioning accuracy by the SCARA-type mechanism after strict calibration of link parameters.
The arm length of the developed mechanism is L_1=250 mm and L_2=147 mm. A high precision air bearing with accuracy of 0.05 μm is adopted to guide the joint axis, and a friction drive mechanism and a DC servomotor are devised to drive joint. And a rotary encoder with ultra-high resolution is devised that can detect the actual joint angle. The encoder resolution is 720×10^4 ppr for θ_1 and 144×10^4 ppr for θ_2. Moreover, the arm structure is arranged so that the center of gravity coincides with the joint axis.
The experiments are performed to control the joint angle with reference angle trajectory. It is confirmed that the joint angles are controlled to settle within the deviations of resolution angle. The dispersion range of the measured repeatability of 30 times positioning is within about ±3.5 μm (3σ), and it is verified that the area of dispersion ellipse is decreased to 10 % of conventional mechanism. The calibration of link parameters and more detailed evaluation of positioning accuracy are scheduled to perform on the next stage.

Report

(3 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • Research Products

    (7 results)

All 2007 2006

All Journal Article (7 results)

  • [Journal Article] Evaluation of Positioning Repeatability of Current SCARA-type Manipulator and Fabrication of a Higher Precision Mechanism2007

    • Author(s)
      Shigeo Fukada, Yusuke Yanagihara
    • Journal Title

      Proceedings of the 7th International Conference of the European Society for Precision Engineering And anotechnology Volume 1

      Pages: 172-175

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Evaluation of positioning repeatability of current SCARA-type manipulator and fabrication of a higher precision mechanism2007

    • Author(s)
      Shigeo FUKADA, Yusuke YANAGIHARA
    • Journal Title

      Proceedings of the 7th International Conference of the European Society for Precision Engineering And Nanotechnology Vol.1

      Pages: 172-175

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Evaluation of positioning repeatability of current SCARA-type manipulator and fabrication of a higher precision mechanism2007

    • Author(s)
      S.Fukada, Y.Yanagihara
    • Journal Title

      Proceedings of the 7^th euspen International Conference (掲載決定)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 水平多関節型位置決め機構の精度特性(位置決めの再現性と分解能楕円)2006

    • Author(s)
      深田茂生, 柳原裕介
    • Journal Title

      2006年度精密工学会春季大会学術講演会講演論文集

      Pages: 887-888

    • NAID

      130005027659

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary 2005 Annual Research Report
  • [Journal Article] 水平多関節型位置決めシステムの高精度関節駆動機構の構成2006

    • Author(s)
      深田茂生, 柳原裕介, 大久保貴史
    • Journal Title

      2006年度精密工学会秋季大会学術講演会講演論文集

      Pages: 863-864

    • NAID

      130004658390

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] Accuracy of planer multi-joint positioning system (Positioning repeatability and ellipse of resolution)2006

    • Author(s)
      Shigeo FUKADA, Yusuke YANAGIHARA
    • Journal Title

      Proceedings of Japan Society of Precision Engineering spring

      Pages: 887-888

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Fabrication of high-precision drive mechanism for planer multi-joint positioning system2006

    • Author(s)
      Shigeo FUKADA, Yusuke YANAGIHARA, Takashi OHKUBO
    • Journal Title

      Proceedings of Japan Society of Precision Engineering 2006 autumn

      Pages: 863-864

    • NAID

      130004658390

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary

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Published: 2005-04-01   Modified: 2016-04-21  

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