Development of Ultra high Precision Automatic Assembly System using Piezoelectric Actuators

使用压电执行器的超高精度自动装配系统的开发

• 批准号: 07650317
• 负责人: YAMAGATA Yutaka
• 金额: $ 1.41万
• 依托单位: Kanagawa Academy of Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07650317/
• 关键词: piezoelectric actuators; precise positioning; micropositioning; automatic assembly; adaptive control; 圧電アクチュエーター; インパクト駆動機構; 多自由度位置決め

The aim of this research is to establish positioning strategy of an object under frictional constrain utilizing impulive force generated by piezoelectric actuators and to develop a ultrahigh precise assembly system using it. The research results can be summed up as follows :(1) A motion mechanism driven by impulsive inertial force by piezoelectric actuator is developed and its ability to move a object precisely under frictional constrain is verifed.(2) A positioning mechanism which is capable of controlling three dimensional motion (X,Y,and Rotation) is developed and positioning experiments are carried out. Positioning experiments are carred out utilizing a newly proposed control strategy with adaptive control and linear programming method. It was possible to align a workpiece at the minimum resolution of the positioning sensor.(3) A workpiece positioning device for positioninig workpiece on the main spindle of a ultrahig precision machine tool is developed and its performance is verified. It was possible to align a workpiece at the resolution below 500 nanometer.Those results show that a positioning system of a workpiece using impulsive force generated by piezoelectric actuator is quite effective in workpiece alignment at ultrahigh precision level. Since, those experiments are carried out in close condition to the actual assembly operation in industries, it is expected that those results will be applied to industrial assembly operations.

本研究的目的是利用压电执行器产生的冲击力建立摩擦约束下物体的定位策略，并开发使用该策略的超高精度装配系统。研究成果可概括如下：(1)研制了一种压电致动器脉冲惯性力驱动的运动机构，并验证了其在摩擦约束下精确移动物体的能力。(2)研制了一种能够控制三维运动(X、Y、旋转)的定位机构，并进行了定位实验。利用新提出的具有自适应控制和线性规划方法的控制策略进行了定位实验。能够以定位传感器的最小分辨率对工件进行对准。(3)研制了一种用于超高精度机床主轴上工件定位的工件定位装置并验证了其性能。可以以低于500纳米的分辨率对工件进行对准。这些结果表明，利用压电致动器产生的脉冲力的工件定位系统在超高精度水平的工件对准中非常有效。由于这些实验是在接近工业实际装配操作的条件下进行的，因此预计这些结果将应用于工业装配操作。

项目成果

J.Mendes, M,Nishimura, Y.Yamagata, and T.Higuchi: "3-DOF Automatic Printed Board Positioning System Using Impact Drive Mechanism" Proceedings of the 11th Korea Automatic Control Conference. 129-132 (1996)

J.Mendes、M、Nishimura、Y.Yamagata 和 T.Higuchi：“使用冲击驱动机构的 3-DOF 自动印制板定位系统”第 11 届韩国自动控制会议论文集。

Yutaka Yamagata, and Toshiro Higuchi: "A micropositioning device using rapid deformations of piezoelectric" Proceedings of the 8th International Precision Engineering Seminar. 265-268 (1995)

Yutaka Yamagata 和 Toshiro Higuchi：“利用压电快速变形的微定位装置”第八届国际精密工程研讨会论文集。

S.Matsuno, H.Ishikawa, M.Munekata, T.Higuchi, and Y.Yamagata: "Development of a workpiece positioning system using Impact Drive Mechanism (Deveopment of Three dimensional positioning Device)" Proc.of the JSPE Spring Annual Conference. K69 (1996)

S.Matsuno、H.Ishikawa、M.Munekata、T.Higuchi 和 Y.Yamagata：“使用冲击驱动机构的工件定位系统的开发（三维定位装置的开发）”JSPE 春季年会的会议记录。

J.Mendes, M.Nishimura, K.Toizawa, Y.Yamagata: "Printed Board Positioning System Using Impact Drive Mechanism" Proceedings of the SICE Annual Conference. 1123-1128 (1996)

J.Mendes、M.Nishimura、K.Toizawa、Y.Yamagata：“使用冲击驱动机构的印刷电路板定位系统”SICE 年会论文集。

Yutaka Yamagata and Toshiro Higuchi: "A micropositioning device using rapid deformations of piezoelectric elements" Proceedings of the 8th International Precision Engineering Seminar. 265-268 (1995)

Yutaka Yamagata 和 Toshiro Higuchi：“利用压电元件快速变形的微定位装置”第八届国际精密工程研讨会论文集。