Trial Study on High Density Surface Mount Systems composed of Multi Parallel-Arrangements Pantograph Mechanisms

多并联受电弓机构组成的高密度表面贴装系统的试验研究

• 批准号: 13555040
• 负责人: HORIE Mikio
• 金额: $ 8.83万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13555040/
• 关键词: Surface Mount Systems for Micro Devices; Parallel Miniature Manipulator; Pantograph Mechanisms; Large-Deflective Hinges; High Polymer; Dynamic Analyses; Injection Molding; Orientation Angles; 電子デバイス用表面実装機; 高分子材料

A new surface mount system composed of parallel arrangement miniature manipulate was proposed. The miniature manipulator consists of a molded pantograph mechanism, which is composed of large deflective hinges and links, both made of the same materials, I. 〓 PP( Polypropylene ). In this study, the moment acting at the hinges in the mechanism investigated dynamically by a theoretical analysis. In theory, the equation of moment at the binge is shown by the sum of a restoring moment of elastic deformation and a viscous damping moment. In the experiments of the vibration between relative two links, a spring constant in the equation of restoring moment of elastic deformation and a viscous damping coefficient in the equation of viscous damping moment are obtained as (1.6〜1.9) *10^s(g・mm^<-1>・s^<-2>) and (2.4〜2.8)*10^4(g・mm^2-s^<-1>), respectively. By use of the dynamic theory, forces and moments acting a〓 the hinges are analyzed. Moreover, the dynamic output displacement of the pantograph mechanism is investigated experimentally comparing with the theoretical result. Furthermore the static characteristic is clarified to analyze the nonlinear torque at the hinges and the displacement error of the output point. The dynamic characteristic deals with the dynamic displacement error of the output point when the miniature manipulator, the pantograph mechanism, is driven at 20Hz, and the output point is moved on a U-shape for picking and placing works. We consider forced vibrations corresponding to natural frequencies and more shapes of the pantograph mechanism. These investigations apply the Finite Element Method (FEM ; ANSYS) and Multi-Body-Simulation approach (MBS; SIMPACK). In the results, modeling and measurements of the pantograph mechanism would be repeated iteratively a improved mutually, the correspondence between theory and practice and the accuracy of the simulation results could be higher.

提出了一种由并联微操作构成的新型表面贴装系统。微型机械手由成型的受电弓机构组成，受电弓机构由大的偏转铰链和连杆组成，两者都采用相同的材料I.〓PP(聚丙烯)。在本研究中，对铰链作用于机构中的力矩进行了理论分析。理论上，弯矩方程可表示为弹性变形恢复力矩和粘性阻尼力矩之和。在相对两杆间的振动实验中，得到了弹性变形恢复力矩方程中的弹簧常数为(1.6~1.9)×10^S(g·mm^~(-1))·S^~(-2)和粘性阻尼力矩方程中的粘性阻尼系数为(2.4~2.8)×10^4(g·mm~(2-))。利用动力学理论，对〓铰链的作用力和力矩进行了分析。此外，对受电弓机构的动态输出位移进行了实验研究，并与理论结果进行了比较。阐明了系统的静态特性，分析了铰链处的非线性力矩和输出点的位移误差。动态特性处理的是微型机械手受电弓机构以20赫兹的频率驱动，输出点以U形运动进行取放作业时输出点的动态位移误差。我们考虑与受电弓机构的固有频率和更多形状相对应的强迫振动。这些研究应用了有限元方法(有限元；ansys)和多体模拟方法(MBS；SIMPACK)。在结果中，受电弓机构的建模和测量将迭代重复，相互改进，理论与实际的一致性和仿真结果的准确性可以更高。

项目成果

Yuki Ishii, Thomas Thummel, Mikio Horie: "Modeling and Simulation of a Molded Pantograph Mechanism with Large-Deflective Hinges and Links"Proceedings of the 11th World Congress in Mechanism and Machine Science. (発表予定). (2004)

Yuki Ishii、Thomas Thummel、Mikio Horie：“具有大偏转铰链和连杆的模制受电弓机构的建模和仿真”第 11 届世界机械与机器科学大会论文集（即将发表）。

Mikio HORIE: "A Dynamic Analysis of Molding Pantograph Mechanism with Large-Deflective Hinges and Links"Proceeding of 3rd IFToMM International Micromechanism Symposium. 30-33 (2001)

Mikio HORIE：“具有大偏转铰链和连杆的成型受电弓机构的动态分析”第三届 IFToMM 国际微观机构研讨会论文集。

Mikio HORIE, Toru UCHIDA, Daiki KAMIYA: "A Pantograph Mechanism with Large-deflective Hinges for Miniature Surface Mount Systems"ROMANSY 13-THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS. ISBN 3-211-83333-1. 93-102 (2002)

Mikio HORIE、Toru UCHIDA、Daiki KAMIYA：“用于微型表面安装系统的带有大偏转铰链的受电弓机构”ROMANSY 13-机器人和操纵器的理论与实践。

M. HORIE, Y. ISHII, and D. KAMIYA: "A Dynamic Characteristic of Miniature Molding Pantograph Mechanisms with Large-Deflective Hinges and Links for Micro Assembly Systems"Proc. Of the First Taiwan-Japan Workshop on Mechanical and Aerospace Engineering. 3.

M. HORIE、Y. ISHII 和 D. KAMIYA：“用于微装配系统的具有大偏转铰链和连杆的微型成型受电弓机构的动态特性”Proc。

Mikio HORIE: "Study on Constant Orientation of Output Link of Molding Pantograph Mechanisms with Large-Deflective Hinges and Links"6th International Conference on Mechatronics Technology. (発表予定). (2002)

Mikio HORIE：“具有大偏转铰链和连杆的成型受电弓机构输出连杆的恒定方向研究”第六届机电一体化技术国际会议（即将发表）。