Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism

Autor:	S. Masuda, Abdelhafid Omari, S. Nakamura, A. Ming, Chisato Kanamori, Makoto Kajitani
Rok vydání:	2001
Předmět:	Engineering Settling time business.industry Hinge Finite element method Displacement (vector) Computer Science::Robotics Mechanism (engineering) Control theory visual_art Electronic component visual_art.visual_art_medium Robot business Actuator Simulation
Zdroj:	Human Friendly Mechatronics
DOI:	10.1016/b978-044450649-8/50056-5
Popis:	This chapter describes a coarse-fine robot system for the purpose of precise mounting electronic components, has been described. The development of two-axis FP and its experimental evaluation were presented. The developed fine positioner consists of piezo-electric actuator and displacement magnifying mechanism with elastic hinge. The displacement magnifying system is designed by simulation based on finite element method. Using only the control of the FP, transient and residual vibration of the coarse positioning device has been compensated successfully. As the result, high speed and precision positioning can be realized by the developed coarse-fine mounting robot system. Experimental results demonstrate significant improvements in endpoint accuracy and settling time achieved by the novel configuration of the coarse-fine robotic system.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::2be09a3b649e768ced28c7c4ae55621d https://doi.org/10.1016/b978-044450649-8/50056-5 Zobrazit plný text záznamu