2002 Fiscal Year Final Research Report Summary
Development Research of an In-Parallel Actuated Robot with Redundant Actuators for Grass and Fine Motions
| Project/Area Number |
12555039
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
設計工学・機械要素・トライボロジー
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| Research Institution | TOKYO INSTITUTE OF TECHNOLOGY |
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Principal Investigator |
TAKEDA Yukio Tokyo Institute of Technology, Department of Mechanical Sciences and Engineering, Associate Professor, 大学院・理工学研究科, 助教授 (20216914)
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| Co-Investigator(Kenkyū-buntansha) |
HIROSE Kazuya ヒーハイスト精工株式会社, 取締役技術部長
HIGUCHI Masaru 東京工業大学, 大学院・理工学研究科, 助手 (40293039)
FUNABASHI Hiroaki 芝浦工業大学, 工学部, 教授 (10016529)
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| Project Period (FY) |
2000 – 2002
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| Keywords | Robotics / In-Parallel Actuated Mechanism / Fine Positioning / Redundant Manipulator / Gross and Fine Drive / Kinematic Synthesis / Rolling Spherical Bearing |
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| Research Abstract |
In many applications of multi-degree-of-freedom mechanisms as positioning devices, a large working space and fine resolution must be simultaneously achieved. For example, the accuracy required in a device for making the master disk of a next generation DVD is expected to be 20 nm in a three-dimensional space of 50 X 50 X 50 mm. We have proposed a spatial in-parallel actuated mechanism with redundant active joints for gross and fine motions for simultaneously realizing a large working space and a fine resolution in applications mentioned above. Conditions and method of the kinematic synthesis of the mechanism has been clarified, and a kinematic synthesis has been carried out. Based on the synthesis result, we built an experimental positioning robot driven by AC servo actuators with ball screws for generating gross motion and by PZT actuators for generating fine motion. Its fine positioning characteristics and its working space have been experimentally investigated. As the results, the experimental positioning robot proposed in this research simultaneously realized a fine resolution (20nm) within a large working space (80mm). We also analyzed static characteristics of a rolling spherical bearing that is a key machine element of the in-parallel actuated positioning robot.
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