Research Equipment Grant for Development of a High-Speed Ultra-Accurate Six DOF Manipulator Based on Two-Dimensional Linear Motors

研究设备资助用于开发基于二维直线电机的高速超精确六自由度机械臂

• 批准号: 9977693
• 负责人: Farshad Khorrami
• 金额: --
• 依托单位: Polytechnic University of New York
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-10-01 至 2003-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9977693&HistoricalAwards=false
• 关键词: Research; Equipment; Grant; Development; Speed

9977693KhorramiThis project will develop a new type of robot arm for a High-Speed Ultra-Accurate Six DOF Manipulator Based on Two-Dimensional Linear Motors to enhance and complement and current research efforts. Planar multi-robot systems based on commercial Sawyer motors provide uniform performance over their entire workspace, offering high speeds, accelerations, and precision. They also offer mechanical and kinematic simplicity, modularity, large motion ranges, and a short path to mechanical ground. In fact such a system can provide a multiple robot table top manufacturing system. These systems are now commercially available from multiple manufactures and are used for a range of applications from wafer probing to circuit board assembly. Planar robot systems use has increased tremendously because of the current trend to smaller devices and the requirement for higher accuracy placement. Unfortunately, primarily because Sawyer motors are operated as open-loop micro-step motors, they can miss steps, have long settle times, and are operated short of their potential capabilities due to loss of synchrony between motor and platen teeth. These limitations can be overcome using a new novel, very high resolution (0.12um; microns), 2D position sensor that was developed by Dr. Ish-Shalom and patented by IBM. The PI has fabricated sensors to his motor. Not only this sensor provides a means for closed-loop control of this motor and therefore higher resolution, but also the point-to-point move time of the motor may be decreased through active damping to achieve better settling times. Furthermore, a higher stiffness may also be achieved. Through the NSF support of previous effort, the PI has fabricated sensors, designed housing for them, and have attached the sensors to the motors for feedback purposes. This grant will provide for additional equipment to develop a six degree-of-freedom manipulator based on two-dimensional Sawyer motors. The manipulator is direct drive and actuated by three Sawyer motors. The manipulator mechanism is basically a tripod with Sawyer motors at its base to provide linear motions of the tripod legs. By properly coordinating the motors, three-axis of translations and three-axis of rotations are produced at the top of the tripod. By proper design of the tripod and a good design of its kinematic parameters, large translations (unlimited X and Y depending on the size of platen used and a few inches of Z movement) and rotations (possibly up to 160 degrees) at the end-effector can, be generated. This equipment will provide an excellent basis to complement the PI's current research efforts and to develop the aforementioned six DOF manipulator.

9977693 KhorramiThis项目将开发一种新型的机器人手臂的高速超精确六自由度机械手基于二维线性电机，以加强和补充和目前的研究工作。基于商用索耶电机的平面多机器人系统在其整个工作空间内提供统一的性能，提供高速度、加速度和精度。它们还提供机械和运动学简单性、模块化、大运动范围和机械接地的短路径。事实上，这样的系统可以提供多机器人台面制造系统。这些系统现在可从多个制造商处购得，并用于从晶圆探测到电路板组装的一系列应用。平面机器人系统的使用已经大大增加，因为目前的趋势，以更小的设备和更高的精度放置的要求。不幸的是，主要是因为索耶电动机作为开环微步电动机操作，它们可能错过步骤，具有长的稳定时间，并且由于电动机和压板齿之间的同步损失而在其潜在能力的范围内操作。这些限制可以通过使用一种新型的、非常高分辨率（0.12微米）的2D位置传感器来克服，该传感器由Ish-Shalom博士开发，并由IBM获得专利。私家侦探在他的马达上安装了传感器。该传感器不仅提供了用于该电机的闭环控制的手段并因此提供了更高的分辨率，而且可以通过主动阻尼来减少电机的点对点移动时间，以实现更好的稳定时间。此外，还可以实现更高的刚度。通过NSF对以前工作的支持，PI已经制造了传感器，为它们设计了外壳，并将传感器连接到电机上用于反馈目的。这笔赠款将提供额外的设备，以开发基于二维索耶电机的六自由度机械手。机械手是直接驱动的，由三个索耶电机驱动。机械手机构基本上是一个三脚架，在其底座处具有索耶电机，以提供三脚架腿的线性运动。通过适当地协调电机，三轴平移和三轴旋转在三脚架的顶部产生。通过三脚架的适当设计和其运动学参数的良好设计，可以在末端执行器处产生大的平移（取决于所使用的压板的尺寸和几英寸的Z移动的无限X和Y）和旋转（可能高达160度）。该设备将提供一个很好的基础，以补充PI目前的研究工作，并开发上述六自由度机械手。