Development of assembly system with quick and low-cost installation. (17th April 2020)

• Record Type: Journal Article
• Authors: Tennomi, Masanari; Okamura, Atsushi; Nakamura, Yuta; Abe, Taiki; Wakamatsu, Seiji; Tajima, Sho; Nishimura, Toshihiro; Hirai, Yuji; Sawada, Takuro; Ichikawa, Naoki; Tsuji, Tokuo; Yamazaki, Kimitoshi; Suzuki, Yosuke; Watanabe, Tetsuyou
• Is Part Of: Advanced robotics. Volume 34:Number 7/8(2020)
• Page Start: 531
• Page End: 545
• Publication Date: 2020-04-17
• Subjects: Assembly system -- industrial robot -- robot hand -- mechanically-compliant joint -- system integration; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1738271
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: Cell production systems for assembly operations generally require tool changes using several hands and a customized work table. The initial setting and resetting of the assembly system are costly. We implemented a system comprising the use of only two hands and without the requirement of tool changers. In addition, multiple sensors are used to perform tasks robustly to avoid errors. The peg-in-hole task is performed robustly against errors without the precise positioning of objects. The objective is to develop a system that is lean and agile and can be set up quickly. We evaluate this system based on the task-board and assembly tasks during the assembly challenge in the industrial robotics category of the World Robot Summit 2018. GRAPHICAL ABSTRACT: