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 Khorrami本项目将为基于二维线性电机的高速超精密六自由度机械手开发一种新型机械臂，以加强和补充现有的研究工作。基于商用Sawyer电机的平面多机器人系统在整个工作空间内提供统一的性能，提供高速度、高加速度和高精度。它们还提供了机械和运动学的简单性、模块化、大的运动范围和通往机械地面的短路径。事实上，这样的系统可以提供多机器人桌面制造系统。这些系统现在可以从多家制造商获得商业用途，并用于从晶片探测到电路板组装的一系列应用。由于当前设备小型化的趋势和对更高精度布局的要求，平面机器人系统的使用已经大大增加。不幸的是，主要是因为Sawyer电机是作为开环微步进电机运行的，它们可能会错过步进，有很长的稳定时间，并且由于电机和压板齿之间失去同步而运行时其潜在能力不足。这些限制可以使用一种新的、非常高分辨率(0.12um；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申请专利。私家侦探在他的马达上安装了传感器。该传感器不仅为电机的闭环控制提供了一种手段，从而提高了分辨率，而且可以通过主动减振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，还可以获得更高的刚度。通过NSF先前工作的支持，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Sawyer电机的六自由度机械手。机械手是直接驱动的，由三个锯片电机驱动。机械手机构基本上是一个三脚架，底部有Sawyer电机，提供三脚架腿的直线运动。通过适当协调电机，在三脚架的顶部产生了三个平移轴和三个旋转轴。通过对三脚架的适当设计及其运动学参数的良好设计，可以在末端执行器上产生大的平移(根据所使用的压盘的大小而无限制的X和Y，以及几英寸的Z向移动)和旋转(可能高达160度)。该设备将为PI目前的研究工作提供良好的基础，并为开发前述六自由度机械手奠定基础。