Automated Assembly with a Robotics Manipulator/Hand System

使用机器人机械手/手系统进行自动装配

• 批准号: 9211366
• 负责人: Arthur Sanderson
• 金额: $ 10万
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-07-15 至 1994-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9211366&HistoricalAwards=false
• 关键词: Automated; Assembly; Robotics; Manipulator; Hand

This research investigates the use of robotic hands in automated robotic assembly. In many assemblies, the clearances allowed between mating parts are smaller than the uncertainties associated with a robotic assembly cell and though it is possible to reduce these uncertainties by using special purpose mechanisms and high precision fixturing devices, this limits flexibility and increases cost. It is preferable for the manipulator to use force/torque feedback during the execution of assembly mating operations to reduce alignment errors between parts which are caused by the uncertainties. By incorporating a robotic hand into the robot manipulator system, the performance of the assembly cell will be improved. The accuracy of force/torque measurements will be increased by putting sensors on both the manipulator and the hand. The hand will serve as both a general fixturing device so that the grasped part can be held rigidly during assembly and a micromanipulator so that fine adjustments to the position of the grasped part can be made. The central goal of this project is a general and automated method for synthesizing force/torque guided motion strategies which operate on a manipulator/hand system and are capable of reducing uncertainty-induced errors during assembly execution. //

这项研究调查了机械手在自动化机器人装配中的使用。在许多装配中，配合部件之间允许的间隙小于与机器人装配单元相关的不确定性，虽然可以通过使用专用机构和高精度夹具来减少这些不确定性，但这限制了灵活性并增加了成本。对于机械手来说，最好在执行装配配合操作期间使用力/力矩反馈，以减少由不确定性引起的部件之间的对准误差。通过在机器人操作手系统中加入机械手，装配单元的性能将得到改善。通过在机械手和手上安装传感器，将提高力/力矩测量的精度。这只手既是一个通用夹具，以便在装配过程中牢牢地握住被抓取的部件，也是一个微操作器，可以对被抓取的部件的位置进行精细调整。该项目的中心目标是一种用于综合力/力矩引导运动策略的通用和自动化方法，该策略在机械手/手系统上操作，并且能够减少装配执行过程中的不确定性引起的误差。//