A technique using an engineered compliance has been developed for high speed robot assembly. Parts with a clearance as small as 0.01 mm (0.0004 in.) are successfully assembled using this technique although the robot may have positional errors in excess of 0.50 mm (0.020 in.). This passive compliance system has important economic advantages over a sensor based system. The passive system operates much faster, is considerably simpler, and does not require any auxialiary electronics. Also, the use of passive compliance will often allow the assembly robot to have fewer degrees of freedom. The results of a robot assembly demonstration project are presented. A complete automobile alternator is assembled in approximately two minutes forty seconds. (DePo)
Using compliance instead of sensory feedback for high speed robot assembly
Folgeleistung und Nicht-Rueckfuehrung von Messfuehlimpulsen fuer Hochgeschwindigkeits-Zusammenbauarbeiten mit Robotern
1978
7 Seiten, 6 Bilder, 3 Tabellen, 2 Quellen
Conference paper
English
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