To provide a component grasping device and a method therefor, controlling the angle and position of a component while grasping the component, swiftly controlling the grasping force and promptly performing the work from component recognition to component installation when adopted to a component mounting device.
The component grasping device includes a grasping means 150 for grasping a component 102 and a control means 180 for controlling the grasping means 150. The grasping means 150 is provided with three or more grasping claws 172, 174, 176 for grasping the component 102 and driving sources 154, 156, 158 being independent of one another and driving the grasping claws 172, 174, 176. The control means 180 is installed with a disturbance observer 200 for controlling the grasping means 150 and a torsional reaction force estimation observer 202. The grasping means 150 is subjected to resonance ratio control by a control command from the control means 180 to the driving sources 154, 156, 158.
COPYRIGHT: (C)2010,JPO&INPIT
Akihiko Nakamura
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Keisuke Matsuyama
Tsuyoshi Makino