Development of Micro-Factory Based on Leading Design

我们提出了一种新的机械臂加工搬运系统的概念，它可以缩小微工厂的规模，增加其通用性。通过微夹持器的微细加工/装配试验和样机试验，利用132,000转/分的高速空气主轴和外径0.3的WC立铣刀进行微细加工试验，得到铝、黄铜和不锈钢的切削力。结果表明，在最小进给速度下，每个刃口的动载荷为1300[mN]，时间平均值为350[mN]的静态载荷。通过0.5~5.0直径的孔轴插入试验，进行微装配检测，得到摩擦载荷。结果表明，所需的轴向力约为1,000[mN]。因此，微机械臂的静刚度要求为350[mN/μm]，微夹持器的抓取刚度要求为1300[mN]。微型夹持器样机和性能评价结果为：夹持器尺寸比为5.6，夹持器承受4[mm]×1300[mN]的弯矩载荷。在此基础上，利用微夹持器与柔性悬臂相结合的系统，模拟了微机械臂的动力学特性，实现了微机械臂的实际加工。

We propose a new concept of machining ＆ handling system using robot arm, which can reduce microfactory size and increase its versatility. Feasibility study is carried out through micro machining/assembling examinations and prototyping of micro gripper.Micro machining examination is carried out using high-speed air spindle of 132,000[rpm] and WC end mill of outer diameter 0.3, to get cutting force of aluminum, brass and stainless steel. It turns out that the dynamic load of 1,300[mN] for each cutting edge and the static load of 350[mN] as time averaged value arise at minimized feeding rate. Micro assembling examination is carried out to get friction load by 0.5〜5.0 diameter hole ＆ shaft insertion test. It turns out that the required axial force is about 1,000[mN]. So, the required static stiffness of micro robot arm is 350[mN/μm], and the required gripping rigidity of micro gripper is 1300[mN].The optimum design of micro gripper configuration based on characteristic data of "Two Shape Memory Alloy" (TSMA) is carried out. Micro gripper prototyping and performance evaluation results in the gripper/work size ratio of 5.6, and the gripper bear out bending moment load of 4[mm]×1,300[mN] on the gripping work. Moreover, the real micro parts machining is demonstrated using combined system of micro gripper and flexible cantilever, which simulates the dynamics of micro robot arm.