Abstract
A super small manipulator that handles BT-05TP shank which is the smallest shank of JBS (The Japan Bench Machine Tool Builders Association Standard) as a peripheral for micro manufacturing equipment that can drive continuously was developed. The specification of the manipulator is as follows. The manipulator consists of four rotary axes and one slide axis. The minimum posture of the main body of the manipulator is 250 x 150 x 210 mm. The area that the manipulator can carry objects is 435mm in radius and 300 mm in stroke. The positioning resolution is 0.0036 degree in arm part, 0.0144 degree in hand part, and 0.01mm in slide part. The hand part can hold two BT-05TP shanks at the same time. The maximum speed is 1.88 radian per second in arm part, 5.03 radian per second in hand part, and 300 mm per second in slide pert. As a result, it was realized that shanks changed in 1.7 seconds that is the fastest level in industry.
