Force sensing as an aid to assembly

Hopkins, S. H.; Bland, C. J.; Wu, Minghui

doi:10.1080/00207549108930071

Cited by 16 publications

(4 citation statements)

References 5 publications

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“…These devices are generally controlled using continuous feedback with sensors such as strain guages or potentiometers to detect the assembly process status. Hopkins et al (1991) present a method by which the manipulator corrects for angular and lateral misalignments using a library of generic force control strategies which are compared with the sensor feedback from the robot wrist.…”

Section: Hybrid Devicesmentioning

confidence: 99%

A compliance device for flexible close tolerance assembly

Edmondson

Redford²

2001

Industrial Robot: An International Journal

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A compliance device combining passive and active compliance has been tested and developed for an anthropomorphic robot for use during assembly operations. The device has the ability to correct for angular and lateral misalignments between mating parts, resulting in no equipment or part damage. The method of control, the design features of the device and the modifications made to enable the device to be used by an anthropomorphic robot are described and future modifications which will enable the device to operate more effectively are discussed.

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Section: Hybrid Devicesmentioning

confidence: 99%

A compliance device for flexible close tolerance assembly

Edmondson

Redford²

2001

Industrial Robot: An International Journal

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“…Furthermore, some strategies have been established without the requirements of force sensors or flexible wrists. 6 In order to test these existed strategies, it is necessary to construct a model of the system.…”

Section: Using a Force Sensor Or Assembly Environment To Achieve Assementioning

confidence: 99%

A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers

1996

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Robotic peg-hole insertion operations can play a very important role in manufacturing industry because it is a common requirement in the manufacturing process and, it requires high precision and high speed.In general, this operation can be divided into two processes: Search process to engage the peg and the hole and, insertion process.The search process is critical in the assembly operation. It can be defined as a process where the angular.and the translational errors between the peg and the hole are reduced until insertion can occur.

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“…In the peg±hole insertion process, the force sensor is used to give a deviation in aligning the peg and hole axes. Some of the force sensors are used to calculate the compensation force [10] or to judge whether a subtask is completed with the chamfer of the hole [11]. Ahn et al [7] tried to increase the reliability of the assembly operation with force sensors by using a task-learning strategy.…”

Section: Introductionmentioning

confidence: 99%

Combination of strategy investigation and utilization of sensor signals in robotic assembly

Qiao

2000

Proceedings of the Institution of Mechanical Engineers, Part B:

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Recently, various kinds of sensor have been widely used in engineering and technological applications. As feedback devices, sensors are anticipated to provide all the information of a dynamic system or at least the information that is necessary in the real-time control process. Therefore much eort has been devoted to the analysis of the in¯uences of noises on the sensor system and the improvement of the control performance. The oversimpli®cation of the utilization process of sensors has led to the lack of motivation in strategy investigation.However, it should be noted that a dynamic system can be described by dierent states and the state measured by sensors may be dierent from that being controlled. Also the measured state may not be able to provide all the information required in the control system. This required information can be de®ned as information states. Furthermore, in many cases, there is no one to one relationship between the measured state and the information state. Therefore, it is necessary to analyse the whole system from a higher level. In this paper, a new process has been designed to control the dynamic system with sensor feedback. Based on this process, the strategies that can be used to achieve high-precision robotic assembly operations with force sensors have been analysed systematically. It is anticipated that this process can be widely used in other applications.

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Force sensing as an aid to assembly

Cited by 16 publications

References 5 publications

A compliance device for flexible close tolerance assembly

A compliance device for flexible close tolerance assembly

A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers

Combination of strategy investigation and utilization of sensor signals in robotic assembly

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