作業者の操作性を考慮した着脱式姿勢可変型直接教示装置の開発

摘要

This paper proposes a direct teaching device for a multi D.O.F industrial manipulator considering a worker's safety and operability. The proposed device named as APDT. Attachable and Pose changeable Direct Teaching device, in composed of a pose adjusting part and a teaching handle part. It is capable of easy mounting/unmouting on a robot end effector and of adjusting a pose of a teaching handle freely without consideration of the pose of an end-effector. By using APDT. A worker is able to perform a direct teaching task for a multi D.O.F manipulator in a comforable posture even in case of teaching in the large pose change of the end-effector by adjusting the pose of the teaching handle. This will bring the reduction of load of a worker in a long time teaching task. Consequently, the reduction of risk due to inappropriate work posture and the improvement of task efficiency is expected. Simple direct teaching task using APDT with SP02, cell production robot, was conducted to confirm the effectiveness of APDT.%1.1開発背景　　近年，製造業分野では少子島齢化や熟練者不足等による生産性の悪化，製品品質の低下等の問題が懸念され，その対策の一つとして，ロボットシステムの製造現場への導入が指極刑に進められている．多自由度マニピュレータは，自重力車生産ラインや造船現場，情報家電製造ライン等において，溶接や塗装，組み立て，検査等の作業に幅広く用いられる代表的な産業用ロボットシステムである．