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History of Robotics Research and Development of Japan2011ManipulationA High Precision Positioning Machine within Wide Range Working Area based on Compliant - Parallel Mechanism

Hiroaki KozukaKanazawa University
Jumpei ArataKyushu University
Kenji OkudaBrother Industries, Ltd.
Akinori OnagaBrother Industries, Ltd.
Motoshi OhnoBrother Industries, Ltd.
Akihito SanoNagoya Institute of Technology
Hideo FujimotoNagoya Institute of Technology
In this study, we propose a compliant - parallel mechanism that enables a wide working area and a high accuracy. The compliant - parallel mechanism is a parallel mechanism that all joints are composed by largely deformable springs. Designing the compliant joints for the mechanism let us explore new challenges: The joints should be elastic for the desired direction, but also rigid for non-desired direction to be deformed. The stress applied during the deformation must not exceed the yield stress to prevent the fatigue failure. The processing method should be carefully considered to minimize the individual variability of spring characteristics. The energetic efficiency also must be taken into account for designing the mechanism. Considering these issues, we developed a new compliant joint structure - alternate side slits structure to be applied to the mechanism. We conducted FEM analysis to clarify the effectiveness of the proposed spring, and the spring was implemented to a prototype, that was designed based on a well-known parallel mechanism, DELTA within 50×50×5[mm] of working area. The evaluation tests conducted on the prototype showed 0.46[μm] of repeatable accuracy in average and 94.3[N/mm] of rigidity in Z axis, that are promising to be applied for an optical parts assembly system. 28th RSJ Best Paper Award in 2014. The FA Foundation Excellent Paper Award in 2019
柔軟ばね関節
Compliant Spring Joint
柔軟ばねパラレルメカニズム
Compliant-Parallel Mechanism

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Compliant Spring Joint
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Compliant-Parallel Mechanism

Correspondence papers

Hiroaki Kozuka, Jumpei Arata, Shohei Ichikawa, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano, Hideo Fujimoto：Multi-DOF Compliant - Parallel Mechanism for High Precision Machine in Optical Industry

例：Journal of the Robotics Society of Japan, Vo.32, No.5, pp.481-489, 2014 (in Japanese).

Hiroaki Kozuka：Studies of Compliant-Parallel Mechanism

Journal of the Robotics Society of Japan,Vol.34,No.3,pp.180-183,2016 (in Japanese).

Related papers

[1] H. Kozuka, J. Arata, K. Okuda, A. Onaga, M. Ohno, A. Sano, H. Fujimoto,""Development of a Spring - Parallel Mechanism Using Circular Spring Joints Based on Compliant Mechanism""，Trans. of the Japan Society of Mechanical Engineers(Series C), Vol.78, No.793, pp.3216-3227，2012．
[2] H. Kozuka, J. Arata, K. Okuda, A. Onaga, M. Ohno, A. Sano, H. Fujimoto,""Compliant-Parallel Mechanism for High Precision Machine with a Wide Range of Working Area,"" Proc. Int. Conf. on Intelligent Robots And Systems (IROS), pp.208-214, Algarve, Portugal, Oct. 2012.
[3] H. Kozuka, J. Arata, K. Okuda, A. Onaga, M. Ohno, A. Sano, H. Fujimoto,""A Bio-Inspired Compliant-Parallel Mechanism for High Precision Robot,"" Proc. Int. Conf. on Robotics and Automation (ICRA) 2012, pp.3122-3127, May 2012.

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