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1993 Fiscal Year Final Research Report Summary

Perelopment of Intelligent Fixture for Automatic Assembly by Robot

Research Project

Project/Area Number 04452151
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionTohoku University

Principal Investigator

NAKANO Eiji  Tohoku University, Professor, 大学院・情報科学研究科, 教授 (90198151)

Co-Investigator(Kenkyū-buntansha) KIMURA H  Electro-Comn. Univ., Lecture, 電気通信学部, 講師 (40192562)
Project Period (FY) 1992 – 1993
KeywordsRobot / Automatic Assembly / Jig / Fixture
Research Abstract

We have intended the development of the Intelligent Jig for the automatic deburring and assembly by the robots. It can manipulate and fix a heavy target object and makes the relocation of the jig unnecessary. In this reserach, we have proposed the new mechanism(RBSF mechanism) which consists of the rotational base and the multi one DOF fingers. It makes the manipulation (manily rotation) of the heavy target object possible. Because of the specialty of this mechanism, the sliding occurs between the target object and fingertips. In this research, we analyze the kinematics and dynamics of RBSF mechanism. We discuss on the feasibility of the generation of object acceleration and angular acceleration be RBSF mechanism. We also discuss on the motion planning based on the analysis of kinematics and dynamics. The results of the simulation and experiment to verify the feasibility of the manipulation by RBSF mechanism are shown.

  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] M.Yashima: "Intelligent Fixture for Automatic Assembly by Robot" Proc.of IROS. 856-863 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 八島真人: "滑り接触を伴う複数の指機構によるあやつりの力学と制御" ロボティクス・メカトロニクス講演会92講演論文集. B. 77-82 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 木村浩: "ロボットによる自動組立てのためのインテリジェントフィクスチャの開発 第3報" 第10回日本ロボット学会学術講演会予稿集. 405-412 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 八島真人: "ロボットによる自動組立てのためのインテリジェントフィクスチャの開発 第4報" 第11回日本ロボット学会学術講演会予稿集. 713-716 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] M.Yashima: "Intelligent Fixture for Automatic Assembly by Robot" Proc. of IEEE International Work-shop on IROS. 856-863 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Yashima: "Dynamics and Control of Multifingured Mechanism with Sliding Contact" Proc. of Robotics-Mechatronics Conf.Vol.B. 77-82 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H.Kimura: "Development of Intelligent Fixture for Automatic Assembly by Robot, 3rd Report" Proc. of Anual Conf. of RSJ. 405-412 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Yashima: "Development of Intelligent Fixture for Automatic Assembly by Robot 4th Report" Proc. of Anual Conf. of RSJ. 713-716 (1993)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1995-03-27  

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