2023 Fiscal Year Final Research Report
Development of high-speed and high-accuracy positioning device using parallel mechanism that enables a large stroke by arranging magnet arrays on opposing side
| Project/Area Number |
21K03941
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20010:Mechanics and mechatronics-related
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| Research Institution | Daido University (2023)
National Institute of Technology, Toyota College (2021-2022) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
原野 智哉 阿南工業高等専門学校, 創造技術工学科, 教授 (20332067)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 位置決め / 磁気歯車 / パラレルメカニズム |
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| Outline of Final Research Achievements |
Linear joints by using a magnetic gear and plates are constructed. The joints enables non-contact power transmission in a parallel mechanism machine. At first, an experiment to catch the behavior of non-contact power and angular transmission between the gear and plates carried out. The result is that strong nonlinearity is specifically clarified. Moreover, it is also shown that when the magnetic plates are placed on opposite side, the characteristics change greatly depending on the combination of magnet pitch. As this parallel mechanism has very low stiffness, it makes a positioning controll complex and difficult. Therefore, a saturation characteristic is adapted for the deviation between the target angular position and the actual one. This control device makes positioning possible.
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| Free Research Field |
位置決め
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| Academic Significance and Societal Importance of the Research Achievements |
一般的に用いられている三次元座標測定機や加工機の機構は三軸直交座標形であるが，パラレルメカニズムは，直交座標形と比較して高速化や高精度化に有利とされている．そこで，本研究で開発された磁気歯車と磁石板を用いた非接触形パラレルメカニズムでは，非接触による動力伝達によって密閉を必要とする場所や，広い作業領域や，より高速化を必要とする場面に適している．非接触による駆動であるため，動力伝達部の剛性が著しく低く，位置決め制御を困難とするが，本研究では制御を可能とすることができた．
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