|Budget Amount *help
¥12,700,000 (Direct Cost : ¥12,700,000)
Fiscal Year 2000 : ¥1,100,000 (Direct Cost : ¥1,100,000)
Fiscal Year 1999 : ¥1,600,000 (Direct Cost : ¥1,600,000)
Fiscal Year 1998 : ¥10,000,000 (Direct Cost : ¥10,000,000)
A wrist joint on an industrial robot is expected to take the movable range of 2π or more [sr], so that its end-effector can freely perform a suitable work angle. To satisfy this demand, we have been studying the joint mechanism using deformed Hooke-type joint that is a very typical spherical linkage. Using the theory of Degrees-of-Freedom, we have developed a constant velocity coupling consisted of three spherical linkages connected to each other with phase angle 2π/3 in parallel. Each linkage of them consists of a series of two spherical linkages connected with an intermediate shaft. We applied this constant velocity coupling to a wrist-joint of manipulator. We have already developed three trial models of this wrist-joint.
This joint mechanism can be expected high-load capability, since it consists of only rotating pair, which can support large joint reaction. So, we examined whether the large-sized machine which can be used as a wrist joint of MEGA Robot-Arms or construction machines,
such as a power shovel, would be realizable.
The joint mechanism is built on a computer by 3D modeler. Its dynamic simulation is carried out to examination by 3D-motion analysis software. The strength of its elements is also carried out to examination by the FEM software. Its structure and link-shape were reconsidered by using these design tools. The basic design of a fourth trial model of target tip-load, 10 [kN], was completed. Its elements were machined by a machining center using 3DCAM software. After being assembled, the fourth trial model, high-load ＆ large-scale joint mechanism, was realized.
From this research, the following conclusions were obtained : (1) The high-load, 10 [kN], joint mechanism can be realize by an additional pair added to the center of the intermediate shaft. (2)Adding the new pairs, we invented a new joint mechanism differed from Culver's CVC mechanism. (3)We built a development system consisted of 3DCAD, 3DCAE and 3DCAM for spatial mechanisms. (4) Using this development system, we also examined realizability of a joint mechanism consisted of Quadruple spherical linkages. (5) Also, we invented a new joint mechanism consisted of closed 6-links spherical linkages. Less