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JRM Vol.27 No.3 pp. 267-275
doi: 10.20965/jrm.2015.p0267
(2015)

Paper:

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Energy-Saving High-Speed Pick-and-Place Robot Using In-Frame Parallel Spring

Jumpei Arata*1, Yuji Isogai*2, Junya Sumida*2, Masamichi Sakaguchi*2, Ryu Nakadate*3, Susumu Oguri*4, and Makoto Hashizume*3

*1Department of Mechanical Engineering, Faculty of Engineering, Kyushu University
744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan

*2Department of Engineering Physics, Electronics and Mechanics, Graduate School of Engineering, Nagoya Institute of Technology
Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan

*3Center for Advanced Medical Innovation, Kyushu University
3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582, Japan

*4Innovation Center for Medical Redox Navigation, Kyushu University
3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582, Japan

Received:
September 19, 2014
Accepted:
March 26, 2015
Published:
June 20, 2015
Creative Commons License
Keywords:
soft robotics, pick-and-place robot, high-speed, energy-saving
Abstract

Concept prototype
Robotic instruments have recently been widely introduced into industrial automation. As energy supply and demand have become global issues, energy saving in industrial robots has become urgent. In general industrial pick-and-place robots, servomotors periodically repeat acceleration and deceleration, consequently lose much energy in motion. We propose a mechanism using an in-frame parallel spring for the pick-and-place robot. During motion, spring blades deform and store energy, then release it as energy of motion, enabling the mechanism to recycle energy that have been lost in conventional mechanisms. In this paper, a 1 DOF proof-of-concept prototype and preliminary feasibility tests are described. In this study, we applied in-frame parallel springs to a mechanism for pick-and-place robot. The parallel springs are fabricated from spring steel SK85M (Young’s modulus: 210 GPa) with 252 mm long, 50 mm wide and 0.3 mm thick. The results suggest that the prototype can achieve a repeated motion with the range of ±145.7 mm in 2.56 Hz by 1.17 W, greatly reduced from that of the the traditional mechanisms. In addition, it is desired to stop the robot immediately in regular motion if anomalies occurred in industrial applications. The prototype showed that an immediate stop in 0.6 s was feasible by dissipating elastic energy stored in spring blades, confirming the feasibility of our proposed mechanism.
Cite this article as:
J. Arata, Y. Isogai, J. Sumida, M. Sakaguchi, R. Nakadate, S. Oguri, and M. Hashizume, “Energy-Saving High-Speed Pick-and-Place Robot Using In-Frame Parallel Spring,” J. Robot. Mechatron., Vol.27 No.3, pp. 267-275, 2015.
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