Title :
A precision manipulator module for assembly in a minifactory environment
Author :
Brown, H. Benjamin ; Muir, Patrick M. ; Rizzi, Alred A. ; Sensi, Maria C. ; Hollis, Ralph L.
Author_Institution :
The Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
We describe the mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly deployable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emulating a SCARA robot. This arrangement provides increased precision, higher throughput, smaller footprint, and increased flexibility relative to the SCARA robot
Keywords :
assembling; industrial manipulators; 2 DOF robot manipulator; 4 DOF assembly operations; assembly; minifactory environment; modular robotic agents; precision manipulator module; Assembly systems; Elbow; End effectors; Friction; Laboratories; Manipulators; Robot sensing systems; Robotic assembly; Shoulder; Throughput;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976304
