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Macro/micro-type assembly robot system that can acquire human skills through direct teaching

Research Project

Project/Area Number 17H01802
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent robotics
Research InstitutionKobe University

Principal Investigator

Yokokohji Yasuyoshi  神戸大学, 工学研究科, 教授 (30202394)

Co-Investigator(Kenkyū-buntansha) 田崎 勇一  神戸大学, 工学研究科, 准教授 (10547433)
土橋 宏規  和歌山大学, システム工学部, 講師 (50634490)
Project Period (FY) 2017-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥17,550,000 (Direct Cost: ¥13,500,000、Indirect Cost: ¥4,050,000)
Fiscal Year 2019: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2018: ¥9,750,000 (Direct Cost: ¥7,500,000、Indirect Cost: ¥2,250,000)
Fiscal Year 2017: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Keywords組立ロボット / スキル移植 / 直接教示 / 変種変量生産 / はめ合い作業 / 汎用ハンド / 組立シミュレーション / 組み立て / はめあい作業
Outline of Final Research Achievements

We designed and prototyped a parallel mechanism as the micro part of the macro/micro-type assembly robot system that can acquire human skills through direct teaching. When designing, the operability during teaching was secured by considering the isotropy of the equivalent inertia of the end-point. We also designed and prototyped a chuck-type parallel stick three-fingered hand that can handle various parts shapes, together with a geometrical method that can derive an appropriate finger placement for parts of various shapes. It was confirmed that jig-less assembly of the gear unit was possible by combining a 4-finger parallel stick hand and a 6-axis vertically articulated industrial robot. We verified whether accurate simulation of assembly work including precise fitting was possible, and found the parameter settings that give the same behavior under the same clearance conditions as the actual assembly experiment.

Academic Significance and Societal Importance of the Research Achievements

直接教示可能なマクロ・マイクロ型組立ロボットの設計試作を通し,変種変量生産用ロボットシステムの方向性を示した.定式化したパラレル機構の手先等価慣性の評価法は,人が操作する他のパラレル機構にも適用できる.様々な部品形状への指配置が可能な1自由度チャック型平行スティック三指ハンドは,製造現場での適用範囲の拡大が期待できる.4指平行スティックハンドによる精密な嵌め合いを含む製品の治具レス組み立てでは,ハンドの高い汎用性を示すとともに産業用ロボット特有の組立スキルの有用性を確認できた.精密な嵌め合いを含む組立作業のシミュレーションの検証結果は,将来の組立作業でのデジタルツインの実現可能性を示唆した.

Report

(4 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • Research Products

    (10 results)

All 2020 2019 2018 2017

All Journal Article (2 results) (of which Peer Reviewed: 1 results) Presentation (8 results) (of which Int'l Joint Research: 2 results)

  • [Journal Article] Survey of Robotic Manipulation Studies Intending Practical Applications in Real Environments --Object Recognition, Soft Robot Hand, Challenge Program and Benchmarking-2017

    • Author(s)
      Tetsuyou Watanabe, Kimitoshi Yamazaki,and Yasuyoshi Yokokohji
    • Journal Title

      Advanced Robotics

      Volume: 31 Issue: 19-20 Pages: 1114-1132

    • DOI

      10.1080/01691864.2017.1365010

    • NAID

      130007404888

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Assembly Challenge in World Robot Summit2017

    • Author(s)
      横小路 泰義, 横井 一仁
    • Journal Title

      Journal of The Society of Instrument and Control Engineers

      Volume: 56 Issue: 10 Pages: 798-804

    • DOI

      10.11499/sicejl.56.798

    • NAID

      130006172697

    • ISSN
      0453-4662, 1883-8170
    • Related Report
      2017 Annual Research Report
  • [Presentation] Minimization of Actuator's Driving Force of Chuck-type Hand with Three Parallel Stick Fingers through Grasp Optimization2020

    • Author(s)
      Hiroki Dobashi, Masaya Fukunishi, Masaya Minani, and Yasuyoshi Yokokohji
    • Organizer
      2020 IEEE/SICE International Symposium on System Integration (SII)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 組立作業の直接教示と再生に適したマクロ・マイクロ型ロボット用パラレル機構の設計2020

    • Author(s)
      橋本 佳典,永野 光,田崎 勇一,横小路 泰義
    • Organizer
      第64回システム制御情報学会研究発表講演会 (SCI’20)
    • Related Report
      2019 Annual Research Report
  • [Presentation] 組立作業の直接教示と再生に適したマクロ・マイクロ型ロボットの機構設計2019

    • Author(s)
      橋本 佳典, 永野 光, 田崎 勇一, 横小路 泰義
    • Organizer
      第20回計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] ビジョンセンサを併用した平行スティック四指汎用ハンドによるギヤユニットの冶具レス組立2019

    • Author(s)
      福田 崇人, 土橋 宏規, 田崎 勇一, 永野 光, 横小路 泰義
    • Organizer
      第20回計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 直接教示動作の統計的性質に基づいたロボットへの柔軟物体操作スキルの移植2019

    • Author(s)
      倉光 祐之介, 永野 光, 田崎 勇一, 横小路 泰義
    • Organizer
      第20回計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] Geometrical Solution of Finger Arrangement Problem Onto Target Part Toward Design of Chuck-Type Hand with Three Parallel Stick Fingers2019

    • Author(s)
      Hiroki Dobashi, Masaya Fukunishi, and Yasuyoshi Yokokohji
    • Organizer
      2019 IEEE/SICE International Symposium on System Integration (SII)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] チャック型平行スティック三指ハンドの機構設計のための対象部品表面への指配置問題とその幾何的解法2018

    • Author(s)
      福西 聖也, 土橋 宏規, 横小路 泰義
    • Organizer
      第36回日本ロボット学会学術講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 平行スティック四指汎用ハンドを搭載した単一アームによるギヤユニットの冶具レス組立2018

    • Author(s)
      福田 崇人, 土橋 宏規, 横小路 泰義
    • Organizer
      第36回日本ロボット学会学術講演会
    • Related Report
      2018 Annual Research Report

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Published: 2017-04-28   Modified: 2021-02-19  

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