| Co-Investigator(Kenkyū-buntansha) |
KAMIYA Daiki Tokyo Institute of Technology, Precision and Intelligence Laboratory, Research Associate, 精密工学研究所, 助手 (60282860)
YANAGISAWA Yoshiyuki SONY, Production Technology Laboratory, Chief of section, Researcher, 生産技術研究所, 課長(研究職)
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| Research Abstract |
A new surface mount system composed of parallel arrangement miniature manipulate was proposed. The miniature manipulator consists of a molded pantograph mechanism, which is composed of large deflective hinges and links, both made of the same materials, I. 〓 PP( Polypropylene ). In this study, the moment acting at the hinges in the mechanism investigated dynamically by a theoretical analysis. In theory, the equation of moment at the binge is shown by the sum of a restoring moment of elastic deformation and a viscous damping moment. In the experiments of the vibration between relative two links, a spring constant in the equation of restoring moment of elastic deformation and a viscous damping coefficient in the equation of viscous damping moment are obtained as (1.6〜1.9) *10^s(g・mm^<-1>・s^<-2>) and (2.4〜2.8)*10^4(g・mm^2-s^<-1>), respectively. By use of the dynamic theory, forces and moments acting a〓 the hinges are analyzed. Moreover, the dynamic output displacement of the pantograph mechanism is investigated experimentally comparing with the theoretical result. Furthermore the static characteristic is clarified to analyze the nonlinear torque at the hinges and the displacement error of the output point. The dynamic characteristic deals with the dynamic displacement error of the output point when the miniature manipulator, the pantograph mechanism, is driven at 20Hz, and the output point is moved on a U-shape for picking and placing works. We consider forced vibrations corresponding to natural frequencies and more shapes of the pantograph mechanism. These investigations apply the Finite Element Method (FEM ; ANSYS) and Multi-Body-Simulation approach (MBS; SIMPACK). In the results, modeling and measurements of the pantograph mechanism would be repeated iteratively a improved mutually, the correspondence between theory and practice and the accuracy of the simulation results could be higher.
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