Title :
Cooperative 2-DOF robots for precision assembly
Author :
Quaid, Arthur E. ; Hollis, Ralph L.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
A new configuration of cooperative 2-DOF robots is presented for use in precision assembly applications. This configuration consists of direct drive planar linear motors traveling on a tabletop platen stator surface combined with overhead 2-DOF manipulators. We outline desirable features of a precision assembly system and use them to compare the proposed configuration to typical configurations that use 4-DOF robots. Advantages of the new approach are used to motivate further research needed to fully develop precision assembly systems based on this concept
Keywords :
assembling; cooperative systems; industrial control; industrial manipulators; linear motors; manipulators; stators; cooperative 2-DOF robots; direct-drive planar linear motors; overhead 2-DOF manipulators; precision assembly; tabletop platen stator surface; Actuators; Assembly systems; Ear; Manipulators; Planar motors; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots; Stators;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506193
