Title :
A study on computer-controlled precision assembly
Author :
Huang, Xiuqing ; Yang, Shuzi ; Ouyang, J.Y.
Author_Institution :
Sch. of Mech. Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
In this paper, a new robotic assembly system has been successfully implemented to conduct precision assembly tasks by using a robot with relatively poor positional accuracy. The peg-into-hole inserting assembly processes are analysed under more general conditions to gain better understanding of the processes and reveal the features of automatic assembly operation. A compensation scheme is proposed for the robot´s compliant deformation from links and joints. Based on the analysis a new-type compact flexible wrist is subsequently designed. Finally, the insertion tests were made on the system through the use of the assembly strategy suitable to the above-obtained parts mating theory and the experimental results show the feasibility of the system
Keywords :
assembling; compensation; computerised control; industrial robots; position control; robots; compensation scheme; compliant deformation; computer-controlled precision assembly; mating theory; peg-into-hole inserting assembly processes; relatively poor positional accuracy; robotic assembly system; Assembly systems; Manufacturing automation; Motion control; Motion planning; Robot control; Robot kinematics; Robot sensing systems; Robotic assembly; Robotics and automation; Wrist;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538028
