Desktop orthogonal-type robot with abilities of compliant motion and stick-slip motion for lapping of LED lens molds

Fusaomi Nagata, Takanori Mizobuchi, Shintaro Tani, Tetsuo Hase, Zenku Haga, Keigo Watanabe, Maki K. Habib, Kazuo Kiguchi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

4 被引用数 (Scopus)

抄録

In this paper, a new desktop orthogonal-type robot, which has abilities of compliant motion and stick-slip motion, is first presented for lapping small metallic molds with curved surface. The robot consists of three single-axis devices with a high position resolution of 1μm. A thin wood stick tool is attached to the tip of the z-axis. The tool tip has a small ballend shape. The control system is composed of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction, e.g., z-direction. The position feedforward loop leads the tool tip along a desired trajectory called cutter location data (CL data). The CL data are generated from the main-processor of a CAM system. The proposed robot realizes a compliant motion required for the surface following control along a spiral path. In order to improve the lapping performance, a small stick-slip motion control strategy is further added to the control system. The small stick-slip motion is orthogonally generated to the direction of the tool moving direction. Generally, the stick-slip motion is an undesirable phenomenon and should be eliminated in precision machineries. However, the proposed robot employs a small stick-slip motion to improve the lapping quality. The effectiveness of the robot is examined through an actual lapping test of an LED lens mold with a diameter of 4 mm.

本文言語英語
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ2095-2100
ページ数6
DOI
出版ステータス出版済み - 2010
外部発表はい
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, 米国
継続期間: 5月 3 20105月 7 2010

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域米国
CityAnchorage, AK
Period5/3/105/7/10

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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