Title :
The dynamic RCC hand for high-speed assembly
Author :
Asada, Haruhiko ; Kakumoto, Yoshiki
Author_Institution :
Dept. of Appl. Syst. Sci., Kyoto Univ., Japan
Abstract :
The design and analysis of a high-speed insertion hand, the dynamic RCC hand, are presented. The dynamic behavior of a peg in high-speed insertion is analyzed. Conditions for the peg to be guided along the chamfer without bouncing on the surface are derived. Mass properties of the peg and its supporting mechanism that enable successful insertion are determined. A high-speed insertion hand is designed on the basis of the dynamic analysis. Experiments demonstrate the feasibility and usefulness of the dynamic insertion hand
Keywords :
assembling; control system synthesis; dynamics; industrial robots; position control; assembly; design; dynamic RCC hand; industrial robots; insertion hand; position control; Guidelines; Jamming; Kinematics; Laboratories; Manipulator dynamics; Mechanical factors; Production; Robotic assembly; Springs;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12035
