Research Equipment Grant for Development of a High-Speed Ultra-Accurate Six DOF Manipulator Based on Two-Dimensional Linear Motors

研究设备资助用于开发基于二维直线电机的高速超精确六自由度机械臂

• 批准号: 9977693
• 负责人: Farshad Khorrami
• 金额: --
• 依托单位: Polytechnic University of New York
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-10-01 至 2003-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9977693&HistoricalAwards=false
• 关键词: Research; Equipment; Grant; Development; Speed

9977693KhorramiThis project will develop a new type of robot arm for a High-Speed Ultra-Accurate Six DOF Manipulator Based on Two-Dimensional Linear Motors to enhance and complement and current research efforts. Planar multi-robot systems based on commercial Sawyer motors provide uniform performance over their entire workspace, offering high speeds, accelerations, and precision. They also offer mechanical and kinematic simplicity, modularity, large motion ranges, and a short path to mechanical ground. In fact such a system can provide a multiple robot table top manufacturing system. These systems are now commercially available from multiple manufactures and are used for a range of applications from wafer probing to circuit board assembly. Planar robot systems use has increased tremendously because of the current trend to smaller devices and the requirement for higher accuracy placement. Unfortunately, primarily because Sawyer motors are operated as open-loop micro-step motors, they can miss steps, have long settle times, and are operated short of their potential capabilities due to loss of synchrony between motor and platen teeth. These limitations can be overcome using a new novel, very high resolution (0.12um; microns), 2D position sensor that was developed by Dr. Ish-Shalom and patented by IBM. The PI has fabricated sensors to his motor. Not only this sensor provides a means for closed-loop control of this motor and therefore higher resolution, but also the point-to-point move time of the motor may be decreased through active damping to achieve better settling times. Furthermore, a higher stiffness may also be achieved. Through the NSF support of previous effort, the PI has fabricated sensors, designed housing for them, and have attached the sensors to the motors for feedback purposes. This grant will provide for additional equipment to develop a six degree-of-freedom manipulator based on two-dimensional Sawyer motors. The manipulator is direct drive and actuated by three Sawyer motors. The manipulator mechanism is basically a tripod with Sawyer motors at its base to provide linear motions of the tripod legs. By properly coordinating the motors, three-axis of translations and three-axis of rotations are produced at the top of the tripod. By proper design of the tripod and a good design of its kinematic parameters, large translations (unlimited X and Y depending on the size of platen used and a few inches of Z movement) and rotations (possibly up to 160 degrees) at the end-effector can, be generated. This equipment will provide an excellent basis to complement the PI's current research efforts and to develop the aforementioned six DOF manipulator.

9977693Khorramithis项目将开发一种新型的机器人组，用于基于二维线性电动机的高速超精确的六个DOF操纵器，以增强和补充以及当前的研究工作。基于商业锯厂电动机的平面多机器人系统在整个工作区中提供统一的性能，提供高速，加速度和精度。他们还提供机械和运动学简单，模块化，大型运动范围以及通往机械基础的短途径。实际上，这样的系统可以提供多个机器人桌顶制造系统。这些系统现在可从多家制造商商业上获得，用于从晶圆探测到电路板组件的一系列应用。平面机器人系统的使用大大增加，因为当前趋势较小的设备以及对更高准确性放置的要求。不幸的是，主要是因为锯耶电动机以开环微型步骤电动机操作，它们可能会错过台阶，固定时间很长，并且由于运动牙齿和柏油牙齿之间的同步损失而无法实现其潜在能力。这些局限性可以通过新的小说，非常高的分辨率（0.12UM；微米），2D位置传感器来克服，该传感器是由ISH-Shalom博士开发的，并由IBM申请了专利。 PI为他的电机制造了传感器。该传感器不仅提供了对该电动机的闭环控制和更高分辨率的手段，而且电动机的点对点移动时间也可以通过主动阻尼减少以达到更好的沉降时间。此外，还可以达到更高的刚度。通过NSF对以前的努力的支持，PI制造了传感器，为其设计了外壳，并将传感器连接到电动机上以进行反馈。该赠款将提供更多的设备，以开发基于二维锯木机的六个自由度操纵器。操纵器是直接驱动器，并由三个锯木电动机驱动。操纵器机构基本上是三脚架，其底部有锯木电动机，以提供三脚架腿的线性运动。通过正确协调电动机，在三脚架的顶部产生了三轴翻译和三轴旋转的轴。通过正确设计三脚架及其运动学参数的良好设计，可以生成巨大的翻译（取决于所使用的盘子的大小和z运动的几英寸）和旋转（可能最高160度），可以生成旋转（可能最高160度）。该设备将为PI当前的研究工作提供良好的基础，并开发上述六个DOF操纵器。