手先位置とワイヤ張力を同時制御する自動配線ロボットの開発

抄録

A gantry robot for wiring of thin cables of the heater is developed. The robot is required the tension control of the wire as well as the position of the wiring tool attached at the hand. Linux CNC, which is conventionally applied for the position control, is expanded for the tension control synchronized for the location of the hand traced on the wiring pattern. Firstly, path planning for the wiring that avoids collisions between the tool attached at the hand and the pin jig installed in the wiring pattern is proposed. Next, tensions during the wiring by a human operator is measured for investigating the tension control scheme for the robot. In the last part of this paper, a mechanism for controlling the tension was designed and its operation was verified.