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2000 Fiscal Year Final Research Report Summary

Development of Micro-Factory Based on Leading Design

Research Project

Project/Area Number 11355008
Research Category

Grant-in-Aid for Scientific Research (A).

Allocation TypeSingle-year Grants
Section展開研究
Research Field 設計工学・機械要素・トライボロジー
Research InstitutionThe University of Tokyo

Principal Investigator

NAKAJIMA Naomasa  The University of Tokyo, Graduate School of Engineering, Professor, 大学院・工学系研究科, 教授 (00011073)

Co-Investigator(Kenkyū-buntansha) YAMADA Takahiro  AISIN COSMOS R&D CO., LTD., Research Department, Senior Research Associate, 研究部, 副主任研究員
MURAKAMI Tamotsu  The University of Tokyo, Graduate School of Engineering, Associate Professor, 大学院・工学系研究科, 助教授 (20212251)
Project Period (FY) 1999 – 2000
KeywordsMicrofactory / Micro robot arm / Micro gripper / Stiffness / Cutting force / Assembling force / Gripping force / Two Shape Memory Alloy
Research Abstract

We propose a new concept of machining & handling system using robot arm, which can reduce microfactory size and increase its versatility. Feasibility study is carried out through micro machining/assembling examinations and prototyping of micro gripper.
Micro machining examination is carried out using high-speed air spindle of 132,000[rpm] and WC end mill of outer diameter 0.3, to get cutting force of aluminum, brass and stainless steel. It turns out that the dynamic load of 1,300[mN] for each cutting edge and the static load of 350[mN] as time averaged value arise at minimized feeding rate. Micro assembling examination is carried out to get friction load by 0.5〜5.0 diameter hole & shaft insertion test. It turns out that the required axial force is about 1,000[mN]. So, the required static stiffness of micro robot arm is 350[mN/μm], and the required gripping rigidity of micro gripper is 1300[mN].
The optimum design of micro gripper configuration based on characteristic data of "Two Shape Memory Alloy" (TSMA) is carried out. Micro gripper prototyping and performance evaluation results in the gripper/work size ratio of 5.6, and the gripper bear out bending moment load of 4[mm]×1,300[mN] on the gripping work. Moreover, the real micro parts machining is demonstrated using combined system of micro gripper and flexible cantilever, which simulates the dynamics of micro robot arm.

  • Research Products

    (14 results)

All Other

All Publications (14 results)

  • [Publications] 中島尚正,村上存,和栗創一: "マイクロファクトリの先導設計(小型マニピュレータの剛性検討)"日本機械学会第9回設計工学・システム部門講演会講演論文集〔No.99-27〕. 522-524 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Naomasa NAKAJIMA,Tamotsu MURAKAMI and XIE Tianyu: "Micro Photoforming Fabrication Using a Liquid Hollow Shaped by Pressure Difference and Surface Tension"International Journal of the Japan Society for Precision Engineering. 33・3. 253-258 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] YI Shuping,Tamotsu MURAKAMI and Naomasa NAKAJIMA: "Accuracy Study on Laminated Object Manufacturing for the Metallic Functional Parts with Complex Surfaces"10th Annual Solid Freeform Fabrication Symposium. 711-718 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 中島尚正,村上存,和栗創一,宇治信孝: "マイクロファクトリの先導設計(ロボットアームを用いた機械加工とワークハンドリングの統合)"2000年度精密工学会秋季大会学術講演会講演論文集. 493 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 中島尚正,村上存,上中玲子,和栗創一: "マイクロファクトリに用いるマイクログリッパの開発"2000年度精密工学会秋季大会学術講演会講演論文集. 395 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 中島尚正,村上存,神村明哉: "光造形法における硬化物余剰成長の理論的解析および実験による評価"精密工学会誌. 66・7. 1053-1058 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 中島尚正,村上存,神村明哉: "冷却固化式光造形法に関する研究(ゾル-ゲル変換樹脂と紫外光遮断層を用いた高自由度・高精密造形)"日本機械学会論文集(C編). 66・649. 3201-3206 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Leading Design for Microfactory (Stiffness Study of Miniature Manipulator)(in Japanese)"Proc. of the JSME Design & Systems Conference '99. 522-524 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Micro Photoforming Fabrication Using a Liquid Hollow Shaped by Pressure Difference and Surface Tension"International Journal of the Japan Society for Precision Engineering. Vol.33, No.3. 253-258 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Accuracy Study on Laminated Object Manufacturing for the Metallic Functional Parts with Complex Surfaces"10th Annual Solid Freeform Fabrication Symposium. 711-718 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Leading Design for Microfactory (Integration of Machining and Work Handling Using Robot Arm)(in Japanese)"Proc. of JSPE Fall Meeting 2000. 493 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Development of Micro Gripper for Microfactory (in Japanese)"Proc. of JSPE Fall Meeting 2000. 395 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Theoretical Analysis and Experimental Evaluation on Solidified Parts' Surplus Growth in Stereo-Lithography (in Japanese)"Journal of the Japan Society for Precision Engineering. Vol.66, No.7. 1053-1058 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Naomasa NAKAJIMA, et al.: "Research on Refrigerative Stereolithography (Accurate Fabrication with High Degree of Freedom by Sol-Gel Transformable Resin and UV-Blocking Layer)(in Japanese)"Transactions of the Japan Society of Mechanical Engineers, C. Vol.66, No.649. 3201-3206 (2000)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2002-03-26  

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