A Planar Robotic Positioning Device with Force/Torque Sensing  

作　　者：刘劲松 

机构地区：[1]Research Institute of Robotics,Shanghai Jiao Tong University,Shanghai 200030,P.R.China

出　　处：《High Technology Letters》1996年第1期18-21,共4页高技术通讯（英文版）

基　　金：Supported by the High Technology Research and Development Programme of China.

摘　　要：This paper describes a new force controlled micro-drive end effector and its driving sys-tem,which can realize delicate adjustment according to the information from a force sensor,so as to enhance the effective positioning accuracy of a robot.The active adjustment is actu-ated by a two-dimensional planar linear step motor which can move along X-and Y-axes inthe range from-5mm to +5mm with the resolutions of 0.48μm,1.95μm,7.8μm,and 15.6μm,respectively.The paper presents the modified mechanical structure,the high divisionnumber driving system,the independent force feedback control system,and the macro/micromanipulator system.The theoretical study proves the high dynamic stability of the macro/micro manipulator system.At last,the experimental results of using the system to finish thepeg-in-hole assembly are given.This paper describes a new force controlled micro-drive end effector and its driving sys- tem,which can realize delicate adjustment according to the information from a force sensor, so as to enhance the effective positioning accuracy of a robot.The active adjustment is actu- ated by a two-dimensional planar linear step motor which can move along X-and Y-axes in the range from-5mm to +5mm with the resolutions of 0.48μm,1.95μm,7.8μm,and 15. 6μm,respectively.The paper presents the modified mechanical structure,the high division number driving system,the independent force feedback control system,and the macro/micro manipulator system.The theoretical study proves the high dynamic stability of the macro/ micro manipulator system.At last,the experimental results of using the system to finish the peg-in-hole assembly are given.

关 键 词：Robot FINE POSITION Driving system Assembly 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]