In dental therapy, diagnosis method can be chosen according to the cases. Dental caries and gum disease etc. are diagnosed by inspection, however the diseases in jaw bones and the lump under skin are palpated to identify the cause of disease. This study aims to develop a virtual training system for palpation in dentistry. Especially, this paper focused on the specification of haptic interface, and then a novel haptic device based on parallel link robot is proposed. This paper designed the structure of parallel link robot through simulation.
A systematic procedure is proposed to design the tolerance values of the components under the constraints on the kinematic motion deviations of parallel link robots. The kinematic motion deviations of parallel link robots are influenced by geometric deviation of the components, such as bearing and joints. This research focus on the geometric tolerance of the joints and bearings of the parallel link robots. The tolerance values are set smaller and smaller, the manufacturing process become more difficult and costly. It is very important to design a suitable set of tolerance values of machine products from the view point of the both the product quality and the production costs. The objective of the research is to determine the tolerance values of joints theoretically under the constraints on the kinematic motion deviations of parallel link robots by applying ISO tolerance. The proposed method provide us with theoretical way considering both the difficulty and the cost of the manufacturing process by applying ISO tolerance to objective function.
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.
This paper describes the concept validation process of an onboard inertial platform by means of a motion stage as the low-cost supplementary device for the attitude control subsystem of ISAS/JAXA sounding rockets. The proposed device is a HEXA 6 DOF parallel robot consisting of parallel links with one moving plate to make up a motion stage, aiming at achieving the resolution of changing in its attitude angle is 0.1 degree. In addtion, this device is equipped with a single axis spin table installed on the top of the moving plate to enhance the spin dump/suppressing ability. The flight experiment has been performed January 2020 using S-310-45 rocket with successfully obtained telemetry data enough to conclude that this approach can be one of options for the low-cost attitude control assistant device.
In order to transfer objects and people stably on rough terrain, we propose a novel modular robot system. The system is composed of multiple units equipped with a micro computer, and its structure is designed based on DELTA mechanism, which provides the system with the function of legged locomotion. Length of links and driving torque of servo motors are determined by solving inverse kinematics and Jacobian matrix. Connecting units and communicating data of ID and traveling direction with them enables the whole system to travel in the same direction. Connecting the units and communicating data among them enable the whole system to travel as a united single body in the same direction with according velocity. To evaluate the functionality of the system, we conducted walking experiments in two system configurations: hexagonal and serial-chain forms.