Development of an Intelligent Power Module Inserter

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2020/03/01

タイトル(英語): Development of an Intelligent Power Module Inserter

著者名: Junya Sato (Faculty of Engineering, Gifu University), Yoshiaki Ichikawa (Faculty of Engineering, Gifu University), Takayoshi Yamada (Faculty of Engineering, Gifu University), Kazuaki Ito (Faculty of Engineering, Gifu University), Hidehiko Yamamoto (Facult

著者名(英語): Junya Sato (Faculty of Engineering, Gifu University), Yoshiaki Ichikawa (Faculty of Engineering, Gifu University), Takayoshi Yamada (Faculty of Engineering, Gifu University), Kazuaki Ito (Faculty of Engineering, Gifu University), Hidehiko Yamamoto (Faculty of Engineering, Gifu University), Motoharu Fujihara (Aisin AW Co., LTD), Satoshi Kawaguchi (Aisin AW Co., LTD), Takehiko Suzuki (Aisin AW Co., LTD), Jin Izawa (Aisin AW Co., LTD)

キーワード: intelligent power module (IPM)，parallel link robot，visual feedback control，six-axis force sensor，peg-in-hole

要約(英語): In this research, we developed a system to insert an intelligent power module (IPM) in a circuit board automatically. The pin row spacing of a target IPM is not reformed in advance and is not the same as the hole row spacing of the board. Hence, after the pin row of one side is inserted, the opposite side must be inserted while applying a force to the already inserted pin row in order to reform the spacing. To this end, a parallel link robot consisting of servo motors was developed. Also, visual feedback control using two webcams is utilized for the alignment and insertion. Moreover, by using the information obtained from a six-axis force sensor installed on the motion base of the robot, it is possible to confirm the grasping IPM and prevent the damage. In the experiment, the developed system was used to perform insertion 100 times, and a 100% success rate was achieved. The average insertion time was 29 seconds.

本誌: IEEJ Journal of Industry Applications Vol.9 No.2 （2020） Special Issue on “Motion Control and Its Related Technologies”

本誌掲載ページ: 140-148 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/9/2/9_140/_article/-char/ja/