Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

Abstract

A passive aligning strategy for the assembly task of a ribbon cable is presented using a sliding surface gripper. Once the gripper grasps the ribbon cable, the sliding surface of the gripper pulls the cable in one direction, and at the end of the pulling process, the box-shaped structure of the fingertip of the gripper passively aligns the cable to a predictable pose. The relationship between the alignment speed of the cable on the sliding surface and the grasping force was modeled and verified by experiments. The maximum position error of the ribbon cable connector aligned by the proposed method was 0.7 mm, which was smaller than the mating tolerance between typical male-and-female connectors. The mating of the connectors was successfully conducted with an industrial robot (ABB IRB120) whose repeatability is less than a millimeter. The entire assembly process of ribbon cable connectors, including visual recognition of the ribbon cable pose, grasping and aligning of the ribbon cable, and mating a pair of cable connectors, was successfully implemented.

Configuration design and grasping contact accuracy analysis of a four-finger manipulator used for grasping fragile objects of elliptic cross section

“…Sometimes, the manipulator gripper is also used to complete assembly task. 14,15 Concerning cylindrical objects, they are clamped from the outside with grippers that mostly use three holding jaws to form a cylindrical hole to accommodate the cylindrical shape of the parts. Regarding tubular parts, the inner bracing gripper is preferred, even though most of the inner bracing grippers only have the function of clamping and loosening the workpiece, without any auxiliary positioning and assembly capabilities.…”

Influence of Inlet Parameters on Power Characteristics of Bernoulli Gripping Devices for Industrial Robots

“…In [10,15,18,21,22,25,[29][30][31]35,37], work is widely carried out under the classification of gripping devices of industrial robots. The methods of recognition [19,23], grasping [13,18,32,33], and manipulation [8,11,12,34] for different gripping devices vary greatly and depend on the object. Among all the gripping devices of industrial robots, pneumatic jet grippers have the greatest dependence on the input parameters of their power characteristics, which are not specified in their technical characteristics.…”

“…The formulation of the function F onset is similar to that used in the γ-Re θ model. It is used to start the intermittency production (i.e., to activate the source value (11)). It contains the ratio of the Reynolds number to the local vortex Re V (in the current formulation, the strain rate is actually used within Re V , which is equivalent to the boundary layers) to the critical Reynolds number Re θc .…”