This paper describes two simple adaptable units designed to accommodate mis-alignment between parts. These devices allow low precision robots to be used for assembly of components which themselves may be subject to dimensional variation. The pneumatic unit is capable of compensating for misalignments of up to 0. 080 in. (2mm) in circumstances where one or other of the components is chamfered. The electric unit is still under evaluation but early results show that by simple processing of sensor signals it is possible to distinguish between the different initial contact conditions (chamfered or non-chamfered) upon which suitable actuation strategies can be based.
|Pages (from-to)||6. 1-6. 8|
|Journal||IEE Colloquium (Digest)|
|Issue number||1984 /18|
|Publication status||Published - 1 Dec 1984|