ヘキサ型パラレルリンク機構と組み立て装置への応用

抄録

Panasonic smart factory solutions provides parallel link robot and assembly equipment with it, for customer manufacturing process optimization. Hexa type structure that 6 servo motors drive 6 arms , enables this robot to move 6DOF. Ball joint that delta type uses, is not available with hexa type, therefore this robot uses original universal joint to expand range of robot motion. Tezutae direct teaching and 6DOF motion, the feature of this robot, realize some manufactuiring process automation. Sheet pasting machine pastes sheet to mobile card payment terminal case using Tezutae direct teaching. Flexible Flat cable（FFC） inserting machine inserts cables to connector on print circuit board(PCB) of car navigation system utilizing 6DOF motion. Anntena cable inserting machine wires anntena cable and inserts connectors onto PCB of smart phone. CPU assembling machine opens CPU lock lever, inserts CPU and close lock lever for computer mother board, using Tezutae direct teaching. Camera assembling machine assembles automotive camera using 3 parallel link robots.