Development of Micro-Factory Based on Leading Design

基于领先设计的微工厂开发

• 批准号: 11355008
• 负责人: NAKAJIMA Naomasa
• 金额: $ 12.67万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A).
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11355008/
• 关键词: Microfactory; Micro robot arm; Micro gripper; Stiffness; Cutting force; Assembling force; Gripping force; Two Shape Memory Alloy; マイクロマニピュレータ; マイクログリッパ-; 形状記憶合金; 先導設計; 感度解析; 組立て力

We propose a new concept of machining ＆ handling system using robot arm, which can reduce microfactory size and increase its versatility. Feasibility study is carried out through micro machining/assembling examinations and prototyping of micro gripper.Micro machining examination is carried out using high-speed air spindle of 132,000[rpm] and WC end mill of outer diameter 0.3, to get cutting force of aluminum, brass and stainless steel. It turns out that the dynamic load of 1,300[mN] for each cutting edge and the static load of 350[mN] as time averaged value arise at minimized feeding rate. Micro assembling examination is carried out to get friction load by 0.5〜5.0 diameter hole ＆ shaft insertion test. It turns out that the required axial force is about 1,000[mN]. So, the required static stiffness of micro robot arm is 350[mN/μm], and the required gripping rigidity of micro gripper is 1300[mN].The optimum design of micro gripper configuration based on characteristic data of "Two Shape Memory Alloy" (TSMA) is carried out. Micro gripper prototyping and performance evaluation results in the gripper/work size ratio of 5.6, and the gripper bear out bending moment load of 4[mm]×1,300[mN] on the gripping work. Moreover, the real micro parts machining is demonstrated using combined system of micro gripper and flexible cantilever, which simulates the dynamics of micro robot arm.

我们提出了一个使用机器人手臂DY的新概念的机械处理系统概念，进行了雷电/组件和微抓手的原型制作。Micro的加工检查是使用132,000的高速空气纺锤体[RPM]和WC END磨机进行的。直径为0.3，在每个切割率的铝，黄铜和不锈钢的切割力中。事实证明，所需的轴向力为1,000 [Mn]。在抓地力的工作中进行了4 [mm]×1,300 [MN]的矩负载。

项目成果

中島尚正,村上存,和栗創一: "マイクロファクトリの先導設計(小型マニピュレータの剛性検討)"日本機械学会第9回設計工学・システム部門講演会講演論文集〔No.99-27〕. 522-524 (1999)

Naomasa Nakajima、Tsutomu Murakami、Soichi Waguri：“微型工厂的先进设计（小型机械手的刚度研究）”日本机械工程师学会第 9 届设计工程和系统分会会议论文集 [No.99-27]。 (1999)

中島尚正,村上存,和栗創一,宇治信孝: "マイクロファクトリの先導設計(ロボットアームを用いた機械加工とワークハンドリングの統合)"2000年度精密工学会秋季大会学術講演会講演論文集. 493 (2000)

Naomasa Nakajima、Satoshi Murakami、Soichi Waguri、Nobutaka Uji：“微型工厂的先进设计（使用机械臂集成加工和工件处理）”2000 年日本精密工程学会秋季会议学术会议论文集 493（2000）。

Naomasa NAKAJIMA, et al.: "Theoretical Analysis and Experimental Evaluation on Solidified Parts' Surplus Growth in Stereo-Lithography (in Japanese)"Journal of the Japan Society for Precision Engineering. Vol.66, No.7. 1053-1058 (2000)

Naomasa NAKAJIMA 等：“立体光刻中固化部件剩余生长的理论分析和实验评估（日文）”日本精密工程学会杂志。

Naomasa NAKAJIMA,Tamotsu MURAKAMI and XIE Tianyu: "Micro Photoforming Fabrication Using a Liquid Hollow Shaped by Pressure Difference and Surface Tension"International Journal of the Japan Society for Precision Engineering. 33・3. 253-258 (1999)

Naomasa NAKAJIMA、Tamotsu MURAKAMI 和 XIE Tianyu：“利用压力差和表面张力形成液体空心的微光成形制造”日本精密工程学会国际期刊 33・3（1999）。

中島尚正,村上存,上中玲子,和栗創一: "マイクロファクトリに用いるマイクログリッパの開発"2000年度精密工学会秋季大会学術講演会講演論文集. 395 (2000)

Naomasa Nakajima、Satoshi Murakami、Reiko Kaminaka、Soichi Waguri：“用于微型工厂的微型夹具的开发”2000 年日本精密工程学会秋季会议学术会议记录 395（2000）。