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Study on Sensor Integrated Manufacturing Robot

传感器集成制造机器人研究

基本信息

批准号：
01550200
负责人：
MITSUISHI Mamoru
金额：
$ 1.28万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

项目摘要

"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.

“多传感器集成制造机器人”作为“用户友好型制造系统”的一个组成部分被开发出来。通过该系统，即使是单件生产，也可以方便地以高精度制造机械零件。多传感器集成制造机器人由以下几个部分组成：(a)主动结构，(b)故障安全机构，(c)工件侧力传感器，(d)工具侧力传感器，(e)顺应机构，(f)精密定位器，(g)视觉传感器等。“制造智能”是“用户友好型制造机器人”的另一个元素，包含以下部分：(a)关于加工规则的知识数据，(b)关于工具和工件的知识数据，(c)关于加工条件和加工经验的知识数据，以及(d)关于加工物理模型的知识数据。将“多传感器集成制造机器人”与“制造智能”系统地结合在一起，实现了“具有学习能力的制造机器人”。在本研究中，开发了上述两个基本要素，即制造机器人和制造智能。-已获取安装在制造机器人上的力传感器信息。-开发了一种利用传感器信息和物理模型识别加工状态的新方法。-开发了学习型制造机器人样机，将加工状态信息发送给知识部件。这一研究将推进到“跨世界智能制造系统”，如具有现实意义的全球制造网络。在此基础上，利用主动结构实现了精度为微米级的新型加工中心。