Automated Assembly with a Robotics Manipulator/Hand System

这项研究调查了机器人手的使用， 自动化机器人组装。 在许多组件中，间隙 匹配部件之间允许的不确定度小于 与机器人装配单元相关联， 为了减少这些不确定性， 和高精度夹具设备，这限制了灵活性， 增加了成本。 操作者最好使用 装配配合执行期间的力/扭矩反馈 减少零件之间对准误差的操作 由不确定性造成的。 通过将机械手 进入机器人操作系统，性能的 组装单元将得到改进。 力/扭矩的准确性 测量将增加通过把传感器上都 机械手和手。 首相将作为将军 夹紧装置，以便能够刚性地保持被抓部分 在装配和显微操作期间， 可以使被抓握部分的位置。 中央 这个项目的目标是一个通用的自动化方法， 合成力/扭矩引导的运动策略， 在操纵器/手系统上并且能够减少 程序集执行过程中的不确定性引起的错误。//

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. //