1. Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism
- Author
-
S. Masuda, Abdelhafid Omari, S. Nakamura, A. Ming, Chisato Kanamori, and Makoto Kajitani
- Subjects
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 - Abstract
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.
- Published
- 2001
- Full Text
- View/download PDF