A compliant-parallel mechanism with bio-inspired compliant joints for high precision assembly robot

Hiroaki Kozuka, Jumpei Arata, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano, Hideo Fujimoto

研究成果: ジャーナルへの寄稿Conference article

9 引用 (Scopus)

抄録

In this paper, we describe a study on compliant-parallel (C-P) mechanism with high precision and wide range of working area using bio-inspired compliant joints. C-P mechanism is a parallel mechanism in which all of joints are composed by wide deformable compliant joints. In the integration of the compliant joint and the parallel mechanism, a deformation of the compliant joint can be guided by mechanical constraints from the parallel mechanism; thus C-P mechanism can be precisely driven. C-P mechanism has no back-lash, requires no lubrication, and is free from machine noise and abrasion power. And, unlike conventional mechanisms, C-P mechanism can be integrated into compact, lightweight, and simple structure. From these backgrounds, we developed a widely deformable circular compliant joint inspired by Drakaea, which is an orchidaceous species. The circular compliant joint was implemented on a 3-DOF (rotational 2 and translational 1 DOF) parallel mechanism as a first prototype. Then, our second prototype was developed to realize further wide range of working area. A serially layered-flat spring compliant joint was developed based on the bio-inspired circular compliant joint, and was implemented on a traditional 3-DOF DELTA mechanism, as the second prototype. From the evaluation tests of these prototypes, the feasibility of C-P mechanism was shown positive to be applied to a high precision assembly robot within a wide range of working area.

元の言語英語
ページ(範囲)175-178
ページ数4
ジャーナルProcedia CIRP
5
DOI
出版物ステータス出版済み - 1 1 2013
イベント1st CIRP Conference on BioManufacturing, BioM 2013 - Tokyo, 日本
継続期間: 3 3 20133 5 2013

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Compliant mechanisms
Abrasion
Lubrication
Robots

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

これを引用

A compliant-parallel mechanism with bio-inspired compliant joints for high precision assembly robot. / Kozuka, Hiroaki; Arata, Jumpei; Okuda, Kenji; Onaga, Akinori; Ohno, Motoshi; Sano, Akihito; Fujimoto, Hideo.

:: Procedia CIRP, 巻 5, 01.01.2013, p. 175-178.

研究成果: ジャーナルへの寄稿Conference article

Kozuka, Hiroaki ; Arata, Jumpei ; Okuda, Kenji ; Onaga, Akinori ; Ohno, Motoshi ; Sano, Akihito ; Fujimoto, Hideo. / A compliant-parallel mechanism with bio-inspired compliant joints for high precision assembly robot. :: Procedia CIRP. 2013 ; 巻 5. pp. 175-178.
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AU - Sano, Akihito

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