High-speed Robot Research Articles

多機種の製品に適用可能な高速検査ロボットシステム(<メカライフ特集>世界に挑む)

多機種の製品に適用可能な高速検査ロボットシステム(<メカライフ特集>世界に挑む)

406 多機種の製品に適用可能な高速検査ロボットの開発(OS4 最新機械要素技術)(OS16 トライポロジー・軸受技術)

406 多機種の製品に適用可能な高速検査ロボットの開発(OS4 最新機械要素技術)(OS16 トライポロジー・軸受技術)

2A1-3F-E4 広揺動角ボールジョイントを用いた 6 自由度パラレルロボットの性能評価

我々は, 作業領域が小さいというパラレル機構の欠点を補う一手法として, 広揺動角ボールジョイントの使用を考え, その開発を進めてきた。このボールジョイントを用いたパラレルロボットの性能評価を行い, その有用性を示す。

Using short-time Fourier transform and wavelet packet filter banks for improved frequency measurement in a Doppler robot tracking system

Previous research has shown that an ultrasonic tracking system using the Doppler effect can potentially track high-speed robot motion very accurately. However, ultrasound energy that is reflected by obstacles in the robot workspace can cause significant distortions in the frequency measurement. To reduce the distortions, a novel method for frequency measurement is described in this paper. This uses the short-time Fourier transform (STFT) to estimate the frequency of the interference signal. Then, the estimated frequencies are analyzed with an adaptive filter constructed with wavelet packet filter banks. Results are given that demonstrate great improvements in frequency measurement.

High performance loading robot design for a tool-delivery system

A concept of an ultrafast distributed material transfer system based upon linear induction motors (LIM) has been proposed in which vehicles can travel at velocities of up to 120 km/h. Performance and economic analysis of a high-speed tool-delivery system based on such a system has shown that the robot manipulator that loads and unloads the vehicles is the bottleneck. This paper presents a method to design a high-speed robot with cycle times comparable with the LIM material transfer system. A generic design methodology is developed for robot manipulators that integrates several key design issues such as kinematics, dynamics, structural mechanics, actuator sizing, assessing robustness to parameters and sensor errors, and vibration analysis. The methodology is computationally efficient and has been implemented using MATLAB for evaluating a number of 'rough-cut' feasible designs for the high-speed robot. A highly distributed architecture and distributed protocols are proposed for integrating the high-speed robot and the high-speed material transfer system.

The progressing clinical utility of DNA microarrays.

The progressing clinical utility of DNA microarrays.

609 並進 3 自由度回転 1 自由度高速パラレルロボット H4 の設計・開発

609 並進 3 自由度回転 1 自由度高速パラレルロボット H4 の設計・開発

2A1-E08 4 自由度高速パラレルロボット H4 の設計

2A1-E08 4 自由度高速パラレルロボット H4 の設計

Realization of Fast and Dexterous Tasks by a DD Parallel Robot Using Motor Back-drivability

This paper presents the execution of very fast, complicated tasks with a high-speed accurate parallel robot we named HEXA. First, unified motion, force and compliance control scheme comprising several control algorithms are given. A key distinguishing feature of our model is control scheme, which does not use any force/torque sensors but uses the actuator backdrivability for this purpose. Hence we can ignore the weight and cost of the force/torque sensor. The motivation for this work is to show the usefulness of the versatile HEXA mechanism for applications in industry. Several experiments for complex, fast tasks, for example, the sequential peg-in-hole task on an inclined table, crank-turning, deburring and composite tasks, have been conducted using this control system to show its effectiveness.

Device and System Development of General Purpose Digital Vision Chip

We have been developing a VLSI device called vision chip in which photo detectors are integrated with paralled processing elements and that realizes high speed robot control using visual feedback. Using a 0.35μm CMOS process, we have developed a 16 × 16 prototype chip and have demonstrated some image acquiring and processing experiments. A vision system which includes the vision chip has also been constructed.

New ultra-compact four-axis high speed robot from Toshiba

New ultra-compact four-axis high speed robot from Toshiba

406 小径管内高速走行ロボットの試作(計測・制御・ロボット)

406 小径管内高速走行ロボットの試作(計測・制御・ロボット)

403 GUIを用いた高速パラレルロボットの接触作業教示(計測・制御・ロボット)

403 GUIを用いた高速パラレルロボットの接触作業教示(計測・制御・ロボット)

歩行パターン・レギュレータによる高速歩行ロボットの安定化制御

歩行パターン・レギュレータによる高速歩行ロボットの安定化制御

High-speed manipulation by using parallel wire-driven robots

A new type of a parallel wire-driven robot is proposed in order to reach ultra-high speed. The driving principle of parallel wire systems is described. Since wires can only pull and not push on an object, at least n+1 wires are needed in order to move the object in a n-dimensional space. In this paper, taking account of the effect of such redundancy on actuation, the motion stability in wire length coordinates is analyzed by using a Lyapunov function. Using “Vector Closure”, it is proven that the hand position and orientation converge to the corresponding desired values and the internal force also converges to the desired one. Moreover, by making good use of non-linear elasticity of parallel wire driven robots, it is claimed that the internal force arising from redundant actuation can effectively reduce vibration when the high-speed robot stops at desired points. As a result, ultra-high speed with more than 40 g(g:gravitational acceleration) can be attained by using relatively small actuators.

パラレルワイヤ駆動方式を用いた超高速ロボットＦＡＬＣＯＮの開発

In many kinds of industries, high speed robots are urgently required. In this paper, we propose an ultrahigh speed robot with 6 D. O. F. based on parallel wire mechanism. Because of low stiffness of wires, vibration problems arise in actuation. To overcome vibration probloms, internal forces among wires are effectively utilized. For this purpose, we analize the elasticity of wires and define two kinds of internal force stiffness. Basing on those results, we develop an ultrahigh speed robot FALCON-7 (FAst Load CONveyance Robot using seven wires) with six degrees of freedom. It is experimentally confirmed that the proposed robot attains to maximum speed 13[m/s] and the peak acceleration exceeds 40[G], even if considerably small D. C. motors (60[W]) are used.

Adaptive high-speed resonant robot

The use of the natural modes of oscillation for efficient performing of complex space motions of a robot with changeable parameters and dynamically interacting degrees of freedom is discussed. For the realisation of high-speed motions in these conditions under the limitation of control torques, it is necessary to identify at first, through on-line analysis of motions in the process of manipulation, the real parameters of natural modes. Then the control torques should be brought into correlation with natural motions by the adaptation of control in accordance with the findings of identification. As a result, the processes of identification, adaptation and control have to be optimised in accordance with the dynamics of robot oscillation. The formulated concept is demonstrated by research and development of an adaptive high-speed manipulator MARS-3 realised by the above mentioned principles for operating in cylindrical co-ordinates.

Modeling, design, and control integration: a necessary step in mechatronics

Future products require more sophistication and flexibility from both the hardware and software points of view. In particular, these products involve several energy domains, which is one reason for the new requirements for system design and the integration of design and control. These are important aspects not only for industrial research and development personnel but also for academicians. In this paper, a modeling and control system perspective relevant to the systems approach and fast adaptive control systems is first presented. Specifically, some of the important aspects are properties from graphical system representation, achievable performance, and fast control algorithms. A few applications are then presented to illustrate some system design requirements and control system characteristics. These applications emphasize the demand for high performance systems which has introduced an increasingly challenging system design problem. The applications discussed include high-speed robot manipulators, high-speed and high-precision magnetic bearing systems, atomic resolution systems, and their control using digital signal processing boards. Experimental results pertaining to the control of a five-axis magnetically levitated turbopump are presented.

Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots

A concurrent design method of mechanical structure and control is developed for two-link high speed robots. An integrated design approach to achieve high speed positioning is explored, in which comprehensive design parameters describing arm link geometry, actuator locations, and feedback gains are optimized with respect to the settling time of the system. First, a two-link, nonrigid arm is analyzed and a simple dynamic model representing rapid positioning processes is obtained. Optimal feedback gains minimizing the settling time are obtained as functions of structural parameters involved in the dynamic model. The structural parameters are then optimized using a nonlinear programming technique in order to obtain an overall optimal performance. Based on the optimal design, a prototype high speed robot is built and tested. The resultant arm design shows an outstanding performance, which is otherwise unattainable if the structure and control are designed separately.

Dynamic studies on closed-loop manipulators constructed from composites — an FEM approach

Today's manufacturing industry needs robots to work at high speeds to satisfy the demand for increased productivity. Many desirable characteristics of fibre-reinforced composite materials such as high strength-to-weight ratios and high stiffness-to-weight ratios make them suitable for high-speed robots. This paper presents a comparative study of the dynamic performance of a closed-loop manipulator constructed from steel, aluminium and two graphite epoxy laminates. A versatile modelling procedure using finite element method is explained for the analysis of dynamic behaviour of a robot. The study shows that the performance of a robot manufactured from composites is superior to robots manufactured from commercial metals such as steel and aluminium.