Ensures accurate, flexible, and safe replacement of segment mirrors

Vision sensor technology for accurate measurement of the segment mirrors

The difficulty of measuring mirrors with high reflectivity is resolved by projecting a checkered flag pattern on the mirrors.
Three developed vision sensors enable the robot to safely approach the mirrors based on accurate recognition of position and attitude.

Force control technology for flexible handling of the segment mirrors

Our force control technology uses a force sensor to detect loads within an accuracy of less than 1kg during the robot’s motions in six degrees of freedom. It also enables gentle yet flexible handling by the robot, so that the mirrors are held securely even at times of power outage caused by massive earthquakes.

Flexible handling makes it possible to compensate for any deformation caused by the heavy weight of the mirrors, which weigh about 250kg, and to remove or install the mirrors on the installation shaft with only a 0.5mm clearance.

Mechanism and drive technology for safe transportation of the segment mirrors

An originally designed parallel link mechanism consisting of six links simultaneously enables both long stroke motion along the Z axis, and motions by the robot in six degrees of freedom.
The long stroke motion provides enough space between the primary mirror and the robot to transport the grasped mirror safely.

• *1 According to an internal survey, as of Feb. 17, 2016