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This paper presents a method for assembling small parts typically found in consumer electronics such as cell phones and PDAs. Unlike traditional automation solutions that require parts be fully fixed, the proposed method allows a part, when pushed, to move in a partially constrained manner relative to its fixture. The pushing motion comes from the mating part gripped by the robot. The fixture and...
The paper aims to develop an automated wheel loading system in the trim-and-final assembly in automotive manufacturing. Currently most of the trim-and-final assemblies are still done manually since the production lines are typically moving randomly. Industrial robots are hardly used to perform any assembly tasks on the randomly changing environments because it is difficult for conventional industrial...
A challenge for automating mechanical assembly is that cumulative uncertainties typically exceed part clearances, which makes conventional position-based tactics unsuccessful. Force-based assembly strategies offer a potential solution, although such methods are still poorly understood and can be difficult to program. In this paper, we describe a force-based robotic assembly approach that uses fixed...
Industrial robots used to perform assembly tasks are still a small portion of total robot sales each year. One of the main reasons is that it is difficult for conventional industrial robots to adjust to any sort of change. Therefore, more intelligent industrial robotic systems are attracting more and more attentions. This paper discusses an intelligent robotics system that performs an assembly process...
The long term success of the robotics industry depends on the growth in non-automotive markets. This paper presents the recent efforts in developing force control enabled technologies for a new set of applications that include assembly, polishing, deburring and milling. For each process, a force control based solution was provided to address the specific problem inherent in that process, and verified...
This paper presents on-pendant assembly parameter optimization with an industrial robot with force control. ABB industrial robot and its latest controller IRC5 is used as the host platform of the development; design of experiment (DOE) method is used as an optimization tool; and automatic transmission torque converter assembly is used as a test case. All tasks such as data manipulation, data analysis,...
This paper presents engine piston installation using industrial robots. Because the current manual and hard automation engine piston installation systems are either labour intensive or inflexible and costly, the three-robot and two-robot piston installation systems are developed and investigated. The robotic piston installation process is simulated. A robotic piston stuffing gripper with ring detection...
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