A flexible assembly cell integrating a parallel manipulator for accurate automatic assembly tasks

Author

Amirat, Yacine ; Pontnau, Jean ; Babaci, Said ; Francois, Clementine

Author_Institution

Lab. d´´Inf. Ind. et d´´Autom, IUT de Creteil, France

fYear

1995

Firstpage

308

Lastpage

313

Abstract

This paper presents a flexible assembly cell intended to perform precise assembly tasks. This cell includes a C5 joints parallel robot which acts as the force controlled active wrist of a cartesian robot. The strategy of assembly consists of three steps: approach, correction of parts misalignments, and insertion. A hybrid position/force algorithm is implemented in the control system which is equipped with position, force and vision sensors. Experimental results and their discussion are presented

Keywords

assembling; flexible manufacturing systems; force control; industrial manipulators; manipulators; motion control; position control; C5 joints parallel robot; accurate automatic assembly tasks; cartesian robot; flexible assembly cell; force controlled active wrist; force sensors; hybrid position/force algorithm; parallel manipulator; position sensors; vision sensors; Assembly systems; Damping; Force control; Industrial control; Manipulators; Parallel robots; Robot vision systems; Robotic assembly; Service robots; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Automation and Control: Emerging Technologies, 1995., International IEEE/IAS Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2645-8

Type

conf

DOI

10.1109/IACET.1995.527580

Filename

527580