MECHANISM AND CONTROL OF CLEAN ROOM ROBOTS

洁净室机器人的机理和控制

基本信息

批准号：
62460104
负责人：
HIGUCHI Toshiro
金额：
$ 4.61万
依托单位：
UNIVERSITY OF TOKYO, Institute of Industrial Science
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1987
资助国家：
日本
起止时间：
1987 至 1988
项目状态：
已结题

项目摘要

In this research, a new type of clean room robot is developed. The developed clean room robot uses magnetic bearings as its joints supporting with no mechanical contacts. It can avoid dust and oil generation from its joints. In addition to the cleanliness, the robot is expected to have many advantages and functions in its motion control, such as, no problems arising from friction of mechanical contact, function of force and stiffness control, function of micro manipulation of the tip, function of measuring the external force, and active vibration control.The following results are obtained in this research.1. The structure of robot joint using magnetic bearings is studied from the mechanism and control points of view. The structure of robot manipulator that is suitable for using magnetic bearing joints is investigated.2. A robot manipulator using magnetic bearing joints which are installed at a part of and the most important joints is designed and built. This prototype robot has parallel link arm mechanism and two motors. The tip of the manipulator is levitated by magnetic bearing joints and the functions can be examined.3. The experimental results confirm the realizability of the proposed robot manipulator that is supported by magnetic bearings. The active control of magnetic bearing joints makes the robot to have the above-mentioned advantages and functions.As the further study, the following investigations are planned, (1)evaluating the performance of magnetic bearing joints quantitatively, (2)taking the robot dynamics into consideration, aiming at the reduction of vibration at high speed motion, (3)development the perfect clean room robot that the driving and supporting mechanism of all joints has no mechanical contact.

在这项研究中，开发了一种新型的清洁室机器人。开发的清洁房间机器人使用磁性轴承作为其关节支撑，没有机械接触。它可以避免其关节的灰尘和石油产生。除清洁度外，该机器人在其运动控制中有许多优点和功能，例如，机械接触的摩擦，力和刚度控制功能，微型操纵的功能，测量外力的功能，测量外力的功能以及主动振动控制的功能。从机理和控制的角度研究了使用磁轴承的机器人接头的结构。研究了适合使用磁性轴承接头的机器人操纵器的结构。2。使用磁性轴承接头的机器人操纵器设计和构建最重要的接头。该原型机器人具有平行的链路机构和两个电动机。操纵器的尖端是通过磁性轴承接头悬浮的，并且可以检查功能3。实验结果证实了由磁轴承支持的提议的机器人操纵器的可实现性。对磁性轴承接头的主动控制使机器人具有上述优势和功能。随着进一步的研究，计划进行以下研究，（1）评估磁轴承接头的性能，（2）将机器人动力学考虑在内，旨在在高速运动中降低振动的机制，（3）均具有完美的驾驶机构，并支持了驾驶机器人的启动机构，并具有完美的机器人的联系。