Study on Instrumentation and Modeling of the Task Skills in Ultra-precision Assembly Tasks

超精密装配任务中任务技能的仪器化与建模研究

• 批准号: 13650134
• 负责人: YAMAMOTO Yoshio
• 金额: $ 0.38万
• 依托单位: TOKAI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 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/grant/KAKENHI-PROJECT-13650134/
• 关键词: Precision assembly; Information technology device; Force measurement; Force sensor; Sensing; Human skill; Polygon motor; Polygon mirror; 組立; 自動化; 技量; 挿入; 力覚

Primary objective of this research is to thoroughly analyze and model a high-precision assembly task which is a peg insertion with a very narrow tolerance, i.e., 5 micron or less. Currently the task has been being performed by skilled workers because there is no robot or assembly machine available at this moment that can accomplish the task with a sufficient accuracy and efficiency that the skilled workers can deliver. A primary objective of the present study is to conduct in-depth analysis of the insertion task based on the experimental observations using high precision instruments. In doing so, we focused on collecting and analyzing the physical data associated with the insertion task in view of automatization of the task.During the first year, we measured reaction forces with a commercially available force sensor and did comparisons between skilled workers and unskilled workers. There were a lot of distinctions observed between the skilled and the unskilled in terms of the force pat … More terns and the magnitude of the forces they exerted. However, the force sensor used was not sensitive enough to give us all the information we needed, i.e., the resolution of moments was so low that any meaningful information could not be extracted. In addition to the force-related measurements, the inclination of the polygon mirror is measured as well.In the second year of the research, we further conducted experiments after newly designing a 2-axis moment sensor which measures moments about X-axis and Y-axis. Its sensitivity is high enough whereas its cross talk as well as nonlinear properties are sufficiently low. Also a real-time image processing is used to obtain more accurate measurement of the inclination of the insertion jig. As a result, we found that not only skilled subjects can finish the task faster than the unskilled, but also the former tends to minimize unnecessary forces while the latter rather poorly searches for an incidental insertion. This observation is supported by the fact that the inclination change of a skilled subject more or less directly converge to a goal while an unskilled subject tends to do a processing motion in order to find an exact alignment, which in general takes more time and is less energy efficient. The way the skilled subjects approach the task is highly consistent and efficient. Such consistency and efficiency must be related with tactile sensitivity which they possess. Less

本研究的主要目的是深入分析和建模一个高精度的装配任务，这是一个钉插入与一个非常窄的公差，即，目前，该任务一直由熟练工人执行，因为此时没有机器人或组装机器可用，其可以以熟练工人可以提供的足够的精度和效率完成该任务。本研究的一个主要目的是使用高精度仪器进行实验观察的基础上，插入任务进行深入的分析。在此过程中，为了实现作业的自动化，我们集中精力收集和分析与插入作业相关的物理数据。在第一年，我们使用市售的力传感器测量了反作用力，并对熟练工人和非熟练工人进行了比较。在熟练和不熟练的人之间观察到了很多区别， ...更多信息 以及它们所施加的力量的大小。然而，所使用的力传感器不够灵敏，无法提供我们所需的所有信息，即，时刻的分辨率如此之低，以至于无法提取任何有意义的信息。除了与力相关的测量外，还测量了多面镜的倾斜度。在研究的第二年，我们在新设计了测量X轴和Y轴力矩的2轴力矩传感器后，进一步进行了实验。其灵敏度足够高，而其串扰以及非线性特性足够低。此外，使用实时图像处理来获得插入夹具的倾斜度的更精确的测量。因此，我们发现，不仅熟练的科目可以完成任务的速度比不熟练的，而且前者往往会尽量减少不必要的力量，而后者相当差的搜索偶然插入。该观察得到以下事实的支持：熟练受试者的倾斜度变化或多或少直接收敛到目标，而不熟练受试者倾向于进行处理运动以便找到精确的对准，这通常花费更多时间并且能量效率较低。熟练的受试者处理任务的方式是高度一致和高效的。这样的一致性和效率一定与它们所具有的触觉灵敏度有关。少

项目成果

Yamamoto, Hashimoto, Okubo, Itoh: "Task Analysis of Ultra-Precision Assembly Processes for Automation of Human Skills"Proceedings of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. 3. 2093-2098 (2001)

Yamamoto、Hashimoto、Okubo、Itoh：“人类技能自动化的超精密装配过程的任务分析”2001 年 IEEE/RSJ 国际智能机器人和系统会议论文集。

Yamamoto, Y., Hashimoto, T., Okubo, T., Itoh, T.: "Measurement of Force Sensory Information in Ultra-precision Assembly Tasks"IEEE/ASME Transactions on Mechatronics. 7(2). 186-189 (2002)

Yamamoto, Y.、Hashimoto, T.、Okubo, T.、Itoh, T.：“超精密装配任务中力传感信息的测量”IEEE/ASME 机电一体化汇刊。

塩田, 鈴木, 橋本, 山本, 米山, 大久保, 伊藤: "精密挿入組立作業における諸力学量の計測と解析"2002年度精密工学会春季大会学術講演会論文集. (2002)

Shioda、Suzuki、Hashimoto、Yamamoto、Yoneyama、Okubo、Ito：“精密插入装配工作中各种机械量的测量和分析”日本精密工程学会 2002 年春季会议论文集（2002 年）。

Yamamoto, Y., Hashimoto, T., Yonemama, T., Okubo, T., Itoh, T.: "Sensor-based Analysis of High-Precision Insertion Tasks"Proceedings of 2002 IEEE/RSJ International Conference on Intelligent Robots and System. 1892-1897 (2002)

Yamamoto, Y.、Hashimoto, T.、Yonemama, T.、Okubo, T.、Itoh, T.：“基于传感器的高精度插入任务分析”2002 年 IEEE/RSJ 国际智能机器人与系统会议论文集

Yamamoto, Y., Hashimoto, T., Okubo, T., Itoh, T.: "Measurement of Force Sensory Information in Ultra-precision Assembly Tasks"IEEE/ASME Transactions on Mechatronics. Vol.7, No.2. 186-189 (2002)

Yamamoto, Y.、Hashimoto, T.、Okubo, T.、Itoh, T.：“超精密装配任务中力传感信息的测量”IEEE/ASME 机电一体化汇刊。