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Small part assembly has been received more and more attention recently. It is very challenging to automate small part assembly processes because of the part positioning problems, part mating related issues, and part manipulability problems etc. To facilitate the small part assembly processes, dual-arm robots have been developed. They have the advantages of flexibility and collaboration and can be...
The small parts assembly process is a complex but necessary task in the modern manufacturing industry. It is not easy to use industrial robots to afford this task because different control modes and coordination algorithms have to be designed and updated periodically to adapt the rapidly changing products. It is desired to improve the conventional robot programming technology. The concept of Learning...
Endurance is a critical problem that most flying robots will definitely encounter. Inspired by flying animals in nature that take frequent short flights with periods of perching in between, we propose an innovative mechanism with flying and adhesion to solve this problem. Previously, we have developed some prototypes of flying and adhesion robots. However, when the robots switch between flying and...
Robot teaching is necessary for the current industrial robot applications. Because work stations have to be stopped to perform teaching processes, the manufacturing efficiency is decreased. In this paper we propose to utilize an uncalibrated vision system mounted on a mobile robot (“Adult” robot) with learning capability to supervise a group of fixed robots (“Child” robots) to accomplish a robot teaching...
In industrial robot applications, to adapt the environmental changes the robot teaching process has to be performed frequently by operators. This process increases the operational cost and reduces the manufacturing efficiency. This paper proposes to use a smart robot(named “adult” robot) with advanced sensing and decision-making capabilities to teach “child” robots in the production line. A Markov...
Autonomous Industrial Mobile Manipulators (AIMMs) combine the advantages of both mobile robots and industrial manipulators, therefore they have great mobility, flexibility and functionality. However, great challenges arise when AIMMs are expected to perform various tasks in unstructured or semi-structured environments. Since AIMMs are typically configured in the indoor environments, indoor localization...
In semiconductor manufacturing, wafers are transferred using wafer handling robots. Typically a pick-measure-place method is used to transfer wafers accurately between stations. The measurement step is performed using an aligner, which is time-consuming. To increase wafer transfer efficiency, it is desirable to speed up the measurement or place it in parallel with other operations. Hence two optic...
Surface manufacturing is a process of adding material to or removing material from the surfaces of a part, where industrial robots are usually used. Robot programming for these applications is still time consuming and costly. Typical teaching methods are not cost effective and efficient. There are many offline programming methods developed to reduce the robot programming effort. However, these methods...
This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell...
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...
Current manufacturing trends require industrial robot to be more and more accurate in order to accomplish more and more complicated manufacturing processes. Robot calibration enables standard robots to achieve higher accuracies. Many complex and/or expensive calibration methodologies have been developed and implemented successfully. However, they are difficult to be used in the manufacturing floor...
This paper presents the recent progress of using robotics in automotive powertain assembly manufacturing processes. After briefly describing force control and vision-guided robot (VGR), we introduce successful implementation of robotic assembly for transmission torque converters, VGR-based engine head assembly, transmission valve body assembly and engine piston installation. Then we discuss other...
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