マルチモードの構造柔軟性を持つロボットアームの3次元制振搬送と高速ピックアンドプレース

抄録

One of the systems proposed as an evolution of factory automation is a system in which a robot arm is attached to a linear actuator. This system can perform extensive 3D transport and assembly. However, the transfer speed is not yet fast, and there is room to improve production efficiency. In addition, the robot arm to be introduced in the future is expected to have a lightweight and flexible structure, making it easier to vibrate. Production efficiency must be improved while taking this problem into account. Therefore, this study aims to construct a system using vibration control that enables high-speed transfer even with flexible robot arms.