History of Robotics Research and Development of Japan1994ManipulationDevelopment of a 6-DOF High-Speed Parallel Robot HEXA

Masaru Uchiyama	Tohoku University
Ken-ichi Iimura	Tohoku University (currently Hitachi)
Susumu Tarao	Tohoku University (currently Tokyo National College of Technology)
François Pierrot	Montpellier II University
Osamu Toyama	Toyoda Machine Works (currently JTEKT)

The HEXA robot is a very fast 6-DOF parallel robot. It uses a parallel mechanism, called a HEXA, consisting of six very simple elementary kinematic chains, each of which has only one active joint driven by a powerful DD motor. The moving parts of this robot is made very light at no expense of its stiffness. Therefore, this robot can move very fast and precisely. In this development, we present a prototype of this robot. We choose a so-called Adept motion as a benchmark to measure its capability of fast motion. Experimental results show that the prototype robot can achieve the Adept motion in 0.465 [s/cycle] and prove that the HEXA robot is suited for very fast motion. Dr. R. Wada, Mr. K. Unno, and Prof. M. Yamanaka (currently the High Energy Accelerator Research Organization) at Toyoda Machine Works (currently JTEKT), and Dr. Pierre Dauchez at LIRM, Montpellier II University have supported the development cooperatively. They are acknowledged. 6th (1995) Technical Innovation Award

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