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，开发了一种新型洁净室机器人。所开发的洁净室机器人采用磁力轴承作为其关节支撑，无机械接触。可以避免其接头处产生灰尘和油污。除了清洁度外，机器人在运动控制方面还期望具有许多优势和功能，例如不会出现机械接触摩擦问题、力和刚度控制功能、尖端微操纵功能、本研究取得了以下成果： 1．从机理和控制角度对采用磁力轴承的机器人关节结构进行了研究。研究了适合采用磁力轴承关节的机器人机械手的结构。 2．设计并制造了一种使用磁力轴承关节的机器人机械手，该关节安装在部分和最重要的关节上。该原型机器人具有平行连杆臂机构和两个电机。机械臂尖端通过磁力轴承关节悬浮并可进行功能检测。 3．实验结果证实了所提出的由磁力轴承支撑的机器人操纵器的可实现性。磁轴承关节的主动控制使得机器人具有上述优点和功能。作为进一步的研究，计划进行以下研究：（1）定量评估磁轴承关节的性能，（2）考虑机器人动力学考虑到，以减少高速运动时的振动为目标，(3)开发了所有关节的驱动和支撑机构无机械接触的完美洁净室机器人。