Title :
Orienting Mechanical Parts by Computer-Controlled Manipulator
Author :
Grossman, David D. ; Blasgen, Michael
Author_Institution :
Department of Computer Sciences, IBM Thomas J. Watson Research Center, Yorktown Heights, N.Y. 10598.
Abstract :
In order to assemble mechanical parts which are initially disordered, a computer-controlled manipulator needs some procedure for orienting these parts. An apparatus is described which assists the manipulator in performing this function. The device is a dihedrally tipped open box attached to a vibrator. When placed in the box, a typical mechanical part assumes one of a small finite number of possible orientations. Once the particular orientation is established, the manipulator shifts the part into the desired orientation.
Keywords :
Cameras; Costs; Electrical equipment industry; Feedback; Laboratories; Manipulators; Production facilities; Robot sensing systems; Robotic assembly; Service robots;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1975.5408381