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Stick-slip motion control based on cutter location data for an orthogonal-type robot

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Abstract

In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool’s movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.

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References

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Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Tokyo University of Science, Yamaguchi, 1-1-1 Daigaku-dori, Sanyo-onoda, 756-0884, Japan

    Fusaomi Nagata, Takanori Mizobuchi & Shintaro Tani

  2. R&D Center, Meiho Co., Nogata, Japan

    Tetsuo Hase & Zenku Haga

  3. Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan

    Keigo Watanabe

  4. Mechanical Engineering Department, School of Sciences and Engineering, American University in Cairo, Cairo, Egypt

    Maki K. Habib

Authors
  1. Fusaomi Nagata
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  2. Takanori Mizobuchi
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  3. Shintaro Tani
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  4. Tetsuo Hase
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  5. Zenku Haga
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  6. Keigo Watanabe
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  7. Maki K. Habib
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Corresponding author

Correspondence to Fusaomi Nagata.

Additional information

This work was presented in part at the 15th International Symposium on Artifi cial Life and Robotics, Oita, Japan, February 4–6, 2010

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Nagata, F., Mizobuchi, T., Tani, S. et al. Stick-slip motion control based on cutter location data for an orthogonal-type robot. Artif Life Robotics 15, 106–110 (2010). https://doi.org/10.1007/s10015-010-0775-x

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  • DOI: https://doi.org/10.1007/s10015-010-0775-x

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