DocumentCode
309453
Title
Intelligent fixture for automatic assembly by robot - basic theory of manipulation using RBSF mechanism
Author
Yashima, Masahito ; Kimura, Hiroshi
Author_Institution
Nat. Defense Acad., Yokosuka, Japan
Volume
2
fYear
1993
fDate
26-30 Jul 1993
Firstpage
856
Abstract
The development of an intelligent fixture for automatic assembly by the robots that can manipulate and fix a heavy object in three dimensions and make the relocation of the jigs unnecessary is addressed. A new mechanism, which is constructed by the rotational base and the one-DOF fingers, is proposed. It makes the manipulation (mainly rotation) of the heavy target object possible because of its simplicity, but the simplicity causes some problems. The kinematics and the dynamics of manipulation by this mechanism is derived, and it is shown how to plan the manipulation. Simulation and experimental results are reported
Keywords
assembling; RBSF mechanism; automatic assembly; dynamics; heavy target object; intelligent fixture; kinematics; robots; rotational base; Acceleration; Costs; Deburring; Fingers; Fixtures; Intelligent robots; Manufacturing processes; Robotic assembly; Robotics and automation; Welding;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583194
Filename
583194
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