Study on Sensor Integrated Manufacturing Robot

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"Multi-sensor integrated manufacturing robot" has been developed as an element of the "user friendly manufacturing system," by which one can make a mechanical part conveniently and with high precision even if it is a one-piece production. Muti-sensor integrated manufacturing robot consists of the following elements : (a) active structure, (b) fail-safe mechanism, (c) workpiece-side force sensor, (d) tool-side force sensor, (e) compliance mechanism, (f) precise positioner, (g) vision sensor, etc. "Manufacturing intelligence" which is another element of the "user friendly manufacturing robot" incorporates the following parts : (a) knowledge data concerning machining rules, (b) knowledge data concerning tools and workpieces, (c) knowledge data concerning machining conditions and machining experiences, and (d) knowledge data concerning the physical model of machining. "Multi-sensor integrated manufacturing robot" and "manufacturing intelligence" are combined together systematically in the implementation of a "manufacturing robot with learning ability."In this research- The two essential elements, i. e. manufacturing robot and manufacturing intelligence mentioned above have been developed.- Force sensor information, which is installed on the manufacturing robot, have been acquired.- A new method distinguishing the machining state has been developed, using sensor information and physical model.- A prototype of the learning manufacturing robot has been developed, sending the information about machining state to the knowledge part.This research will be promoted to "inter-world intelligent manufacturing system," for example, global manufacturing network with reality. Furthermore, a new machining center whose precision is of micrometer order will be realized using active structure.