제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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- Pages.511-516
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- 1991
SCARA robot를 위한 4자유도 end-effector 개발
Four degrees of freedom robot gripper for assembly robots
초록
A new end-effector has been devised and the problems resulted from using it with SCARA robots are discussed. The end effector has two modules: one composed of two ultrasonic motors and two encoders for controlling each finger, and the other module composed of two ultrasonic motors and two encoders for controlling the wrist. The wrist module adds two degrees of freedom to the SCARA type robot, which generally has four degrees of freedom. With independent finger actuation and touch sensors, the gripper under computer control can feedback information about part size and part presence. Ultrasonic motors with high torque and slow motion characteristics are used. The principle of ultrasonic motors is explained and the servo characteristics of ultrasonic motors are studied. They are controlled by the general motion controller (Hewlett Packard HCTL-1000) which is linked to an IBM-PC AT.
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