Details
| Original language | English |
|---|---|
| Title of host publication | Precision Assembly Technologies and Systems |
| Subtitle of host publication | 5th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2010, Chamonix, France, February 14-17, 2010. Proceedings |
| Pages | 123-130 |
| Number of pages | 8 |
| Publication status | Published - 2010 |
| Externally published | Yes |
Publication series
| Name | IFIP Advances in Information and Communication Technology |
|---|---|
| Volume | 315 |
| ISSN (Print) | 1868-4238 |
Abstract
This paper presents two ways of decreasing the assembly uncertainty of micro assembly tasks through further or optimized integration of sensors within a size adapted assembly system. To accomplish this, the orientation of the part to be placed with respect to the vision sensor is changed. This was possible through a new gripper which was able to overcome the restrictions placed on the system by the vision sensor. Another increase in precision was obtained through the integration of a force sensor into the wrist of the robot. This force sensor provides additional information about the placing process which allows the maximal force in the vertical axis to be limited. These improvements are then demonstrated on a task which requires the placement of linear guides which are 8.4 millimeters by 1 millimeter.
Keywords
- Precision assembly, Sensor guidance, Size adapted robot
ASJC Scopus subject areas
- Decision Sciences(all)
- Information Systems and Management
Cite this
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Precision Assembly Technologies and Systems: 5th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2010, Chamonix, France, February 14-17, 2010. Proceedings. 2010. p. 123-130 (IFIP Advances in Information and Communication Technology; Vol. 315).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Vision and force sensing to decrease assembly uncertainty
AU - Ellwood, R. John
AU - Raatz, Annika
AU - Hesselbach, Jürgen
PY - 2010
Y1 - 2010
N2 - This paper presents two ways of decreasing the assembly uncertainty of micro assembly tasks through further or optimized integration of sensors within a size adapted assembly system. To accomplish this, the orientation of the part to be placed with respect to the vision sensor is changed. This was possible through a new gripper which was able to overcome the restrictions placed on the system by the vision sensor. Another increase in precision was obtained through the integration of a force sensor into the wrist of the robot. This force sensor provides additional information about the placing process which allows the maximal force in the vertical axis to be limited. These improvements are then demonstrated on a task which requires the placement of linear guides which are 8.4 millimeters by 1 millimeter.
AB - This paper presents two ways of decreasing the assembly uncertainty of micro assembly tasks through further or optimized integration of sensors within a size adapted assembly system. To accomplish this, the orientation of the part to be placed with respect to the vision sensor is changed. This was possible through a new gripper which was able to overcome the restrictions placed on the system by the vision sensor. Another increase in precision was obtained through the integration of a force sensor into the wrist of the robot. This force sensor provides additional information about the placing process which allows the maximal force in the vertical axis to be limited. These improvements are then demonstrated on a task which requires the placement of linear guides which are 8.4 millimeters by 1 millimeter.
KW - Precision assembly
KW - Sensor guidance
KW - Size adapted robot
UR - http://www.scopus.com/inward/record.url?scp=76749101575&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-11598-1_14
DO - 10.1007/978-3-642-11598-1_14
M3 - Contribution to book/anthology
AN - SCOPUS:76749101575
SN - 9783642115974
T3 - IFIP Advances in Information and Communication Technology
SP - 123
EP - 130
BT - Precision Assembly Technologies and Systems
ER -