Fabrication of High-precision Drive Mechanism for Planer Multi-joint Positioning System

• Fukada Shigeo

  Shinshu University

• Yanagihara Yusuke

  Shinshu University

• Ohkubo Takashi

  Shinshu University

Bibliographic Information

Other Title

• 水平多関節型位置決めシステムの高精度関節駆動機構の構成

Abstract

Conventional SCARA-type manipulators have cantilever configurations, and their joint angle is controlled in semi-closed feedback system by detecting rotational angle of motor on input side of transmission. Because of these problems, it is difficult to extremely improve their positioning accuracy. To give a solution to the problems, a novel arrangement of driving mechanism for planer multi-joint positioning system is proposed and a single axis prototype is developed to evaluate its performance experimentally. A high precision air bearing and a friction drive mechanism are adopted, and a high-resolution rotary encoder is devised to detect the actual joint angle. Some experiments are performed to clarify the driving property in microscopic range, and to evaluate the developed prototype.

Journal

• Proceedings of JSPE Semestrial Meeting

  Proceedings of JSPE Semestrial Meeting 2006A (0), 863-864, 2006

  The Japan Society for Precision Engineering

Keywords

• precision positioning
• planer multi-joint mechanism
• joint drive
• rotary encoder
• hydrostatic air bearing

Details

• CRID: 1390001205651578624
• NII Article ID: 130004658390
• DOI: 10.11522/pscjspe.2006a.0.863.0
• Data Source:
  • JaLC
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed