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Development of MAGLEV micro hand for assembly and machining

开发用于装配和加工的MAGLEV微型手

基本信息

批准号：
10450067
负责人：
NAKAMURA Tatsuya
金额：
$ 4.74万
依托单位：
TOKYO METROPOLITAN UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B).
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 2000
项目状态：
已结题

项目摘要

Micro motors and micro mechanical parts have been developed recently in micro-machine and biological areas, and some of them are in market, while sensors and processors are already miniaturized. Therefore, manufacturing of micro machine systems with high level functions is possible in principle. However, conventional production of micro machines is done using micro manipulators under the microscope and lack in autonomy. Moreover it lacks in a capability of simple machining like drilling.The aim of our research is to develop a micro operation hand for dexterous assembly and machining. For dexterous operations, force control is effective. Mechanisms and controls of micro operation hands have been investigated in this research. The hand design contains significant features as follows. First, magnetically suspension technology is adopted to realize force control without using force sensors. Second, each finger is constrained to a parallel motion mechanism. This mechanism is suitable for machining, since the orientation of a cutter attached to the finger is kept constant and the mechanism itself can resist large reaction torques while machining. Third, the hand consists of two fingers with three degrees of freedom and thus it can be applied to various tasks including assembly and machining. Concerning the control, a master-slave coordinate control system has been designed, where the master finger is position controlled with a newly designed PID disturbance observer, while other slave finger is force controlled with a PD impedance control.An experimental micro operation hand was developed which consists of the parallel motion mechanisms, laser displacement sensors for direct position measurement and newly designed electro-magnetic actuators for direct actuation. Using this hand, various micro tasks such as micro drawing, micro drilling and wire in hole were successfully conducted and the goal of this research was achieved.

最近在微机械和生物领域开发了微型电机和微型机械零件，其中一些已经投入市场，而传感器和处理器已经小型化。因此，原则上可以制造具有高级功能的微型机械系统。然而，传统的微型机械生产是在显微镜下使用微型机械手完成的，缺乏自主性。而且缺乏像钻孔这样的简单加工能力。我们的研究目的是开发一种用于灵巧装配和加工的微型操作手。对于灵巧的操作，力的控制是有效的。本研究对微操作手的机制和控制进行了研究。手部设计包含以下重要特征。首先，采用磁悬浮技术，在不使用力传感器的情况下实现力控制。其次，每个手指都被限制在一个平行运动机构上。该机构适合加工，因为安装在手指上的刀具的方向保持恒定，并且机构本身可以在加工时抵抗大的反作用扭矩。第三，手由两个具有三个自由度的手指组成，因此可以应用于包括装配和加工在内的各种任务。在控制方面，设计了主从坐标控制系统，其中主手指采用新设计的PID扰动观测器进行位置控制，而从手指采用PD阻抗控制进行力控制。开发了一种实验微操作手，由并联运动机构、用于直接位置测量的激光位移传感器和新设计的用于直接驱动的电磁执行器组成。利用这只手，成功地进行了微拉、微钻孔、孔内拉丝等各种微细任务，达到了本研究的目的。