A Vision-Based Strategy for a Cost-Effective Flexible Robotic Assembly System Without Using RCC Devices and Compliant Control

2019 ◽  
pp. 21-30
Author(s):  
C. Y. Weng ◽  
I. M. Chen
Keyword(s):  
Cost Effective ◽  
Robotic Assembly ◽  
Assembly System ◽  
Compliant Control

A Flexible Robotic Assembly System Combining CAD Based Localization, Compliance Control, and a Multi-Modal Gripper

2021 ◽  
Vol 6 (4) ◽  
pp. 8639-8646
Author(s):  
Gal Gorjup ◽  
Geng Gao ◽  
Anany Dwivedi ◽  
Minas Liarokapis
Keyword(s):  
Robotic Assembly ◽  
Assembly System ◽  
Compliance Control

Underactuated Part Alignment System (UPAS) for Industrial Assembly Tasks

2011 ◽  
Author(s):  
Brian J. Slaboch ◽  
Philip Voglewede
Keyword(s):  
Degrees Of Freedom ◽  
Vertical Plane ◽  
Cost Effective ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Planning Techniques ◽  
Alignment System ◽  
Compliant Assembly ◽  
Industrial Assembly ◽  
Assembly Tasks

This paper introduces the Underactuated Part Alignment System (UPAS) as a cost-effective and flexible approach to aligning parts in the vertical plane prior to an industrial robotic assembly task. The advantage of the UPAS is that it utilizes the degrees of freedom (DOFs) of a SCARA (Selective Compliant Assembly Robot Arm) type robot in conjunction with an external fixed post to achieve the desired part alignment. Three path planning techniques will be presented that can be used with the UPAS to achieve the proper part rotation.

A novel concatenation method for generating optimal robotic assembly sequences

2015 ◽  
Vol 231 (10) ◽  
pp. 1966-1977 ◽  
Author(s):  
MVA Raju Bahubalendruni ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Computer Aided Design ◽  
Cost Effective ◽  
High Energy ◽  
Robotic Assembly ◽  
Computational Time ◽  
Assembly Sequence ◽  
Design Environment ◽  
Assembly Sequences ◽  
Computer Aided ◽  
Assembly Sequence Generation

Selection of optimized assembly sequence is significantly essential to achieve cost-effective manufacturing process. This paper presents a novel efficient methodology to generate cost-effective feasible robotic assembly sequences though concatenation of parts. Part concatenation process will be followed with liaison predicate test and feasibility predicate test. A unique method called bounding box method is described to test the feasibility predicate efficiently in the computer-aided design environment. Assembly indexing technique is proposed to filter the redundant assembly subsets with high energy in order to minimize the computational time. The cost of collision free assembling operation is considered by the weight and distance traveled by the part in the assembly environment to join with the mating part. The method is successful in finding feasible optimal assembly sequence without ignoring any possible assembly sequence and found to be efficient in solving computer-aided assembly sequence generation. The correctness of the methodology is illustrated with an example.

1A2-B12 Robotic Assembly System for Electric Connectors Mating Basing on Vision and Force/Toraue Sensors

2010 ◽  
Vol 2010 (0) ◽  
pp. _1A2-B12_1-_1A2-B12_4
Author(s):  
Baiqing SUN ◽  
Pei DI ◽  
Fei CHEN ◽  
Jian HUANG ◽  
Hironobu SASAKI ◽  
...  
Keyword(s):  
Robotic Assembly ◽  
Assembly System

Introduction to the special issue: Intelligent robotic assembly

Robotica ◽  
1998 ◽  
Vol 16 (3) ◽  
pp. 237-238
Author(s):  
Hyung Suck Cho
Keyword(s):  
Robotic Assembly ◽  
Assembly System ◽  
Special Issue ◽  
Assembly Work ◽  
Unstructured Environments ◽  
Assembly Tasks ◽  
Intelligent Assembly System ◽  
Part Feeding

“Intelligent robotic assembly” indicates a complete degree of autonomy and a high adaptability in performing assembly tasks. For instance, a highly flexible and intelligent assembly system appears to be one that can autonomously perform any assembly work in entirely unstructured environments. This system does not require organized, orderly forms of part transport and presentation devices, such as assembly jig and fixture, part feeding devices, tray, magazine, conveyor, etc., but needs only an assembly table where parts to be assembled are stacked up in a cluttered manner.

scholarly journals Robotic Assembly System for Steel Structures

2015 ◽  
pp. 86-93
Author(s):  
Ci-Jyun Liang ◽  
Shih-Chung Kang
Keyword(s):  
Accidental Falls ◽  
Steel Structures ◽  
Robotic Assembly ◽  
Assembly System ◽  
Vertical Alignment ◽  
Horizontal Alignment ◽  
Rotation Method ◽  
The Right ◽  
High Place

Workers are required to stand on dangerous unfinished steel structures to assemble elements manually. Therefore, we developed a robotic assembly system (RAS) to prevent accidental falls. The RAS consists of four methods: rotation, alignment, bolting, and unloading. The rotation method utilizes a flywheel equipped on top of a rigging beam to rotate the beam. The vertical alignment relies on a camera and a marker to align the altitude of the beam. The horizontal alignment relies on a specially designed shape that can smoothly guide the beam to the right position. The bolting method adds an additional plug hole above each bolt hole to assemble the beam. The unloading method uses pin mechanisms and motors to unload the cable and the RAS. The system is tested in a scaled indoor experiment and the results show that the process is finished without workers stay in the high place. In conclusion, the RAS helps reduce accidental falls, is suitable to the current erection method, and can be broadly introduced to existing sites.

Relative Robots: Scaling Automated Assembly of Discrete Cellular Lattices

2016 ◽  
Author(s):  
Matthew Carney ◽  
Benjamin Jenett
Keyword(s):  
Dynamic Error ◽  
Robotic Assembly ◽  
Design Parameters ◽  
Assembly System ◽  
Joint Interface ◽  
Budget Analysis ◽  
Assembly System Design ◽  
Error Accumulation ◽  
Structural Loop ◽  
Robotic Construction

We propose metrics for evaluating the performance of robotically assembled discrete cellular lattice structures (referred to as digital materials) by defining a set of tools used to evaluate how the assembly system impacts the achievable performance objective of relative stiffness. We show that mass-specific stiffness can be described by the dependencies E*(γ, D(n, f, RA)), where E* is specific modulus, γ is lattice topology, and the allowable acceptance of the joint interface, D, is defined by an error budget analysis that incorporates the scale of the structure, and/or number of discrete components assembled, n, the type of robotic assembler, RA, and the static error contributions due to tolerance stack-up in the specified assembler structural loop, and the dynamic error limitations of the assembler operating at specified assembly rates, f. We refer to three primary physical robotic construction system topologies defined by the relationship between their configuration workspace, and the global configuration space: global robotic assembler (GR), mobile robotic assembler (MR), and relative robotic assemblers (RR), each exhibiting varying sensitivity to static, and dynamic error accumulation. Results of this analysis inform an iterative machine design process where final desired material performance is used to define robotic assembly system design parameters.

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