Study on Sensor Integrated Manufacturing Robot

作为“用户友好型制造系统”的一部分，开发了“多传感器集成制造机器人”，即使是单件生产，也可以方便地高精度地制造机械零件。多传感器集成制造机器人由以下元件组成：（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）柔顺机构，（f）精密定位器，（g）视觉传感器等。“制造智能”是“用户友好制造机器人”的另一个元件，包括以下部分：（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）关于加工的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”系统地结合起来，实现了“具有学习能力的制造机器人”。“在这项研究中-两个基本要素，一。e.制造机器人和制造智能已经开发了上述。已经获取了安装在制造机器人上的力传感器信息。提出了一种利用传感器信息和物理模型判别加工状态的新方法。研制了一种学习型制造机器人样机，将加工状态信息传递给知识部分，将研究推广到“跨世界智能制造系统”，如具有现实意义的全球制造网络。此外，利用主动结构还可实现微米级精度的新型加工中心。

"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.