抄録
In the field of manufacturing of a widely variety of products in small quantities, high versatility and maintainability are required for the working robot in introduction cost or operational cost. Recently, we research and develop a new type small-size multipurpose robot arm which consists of some modules combination. It allows easily change of the workspace or degrees of freedom (DOF) depending on the required task by combining some types of modules. Therefore, it is expected to improve the versatility and maintainability, and moreover, the reduction of the costs are also expected. The purpose of our study is the development of the control system to perform the picking and handling of the small component. In this paper, as the initial step of our study, we configure 3-DOF plan and 6-DOF vertically articulated robot arm as typical examples of our module robot, and we analyze forward/inverse kinematics and simulate the motion of the two robots.
