Precision assembly with a magnetically levitated wrist

TitlePrecision assembly with a magnetically levitated wrist
Publication TypeConference Paper
Year of Publication1993
AuthorsOh, S. - R., R. L. Hollis, and S. E. Salcudean
Conference NameRobotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Pagination127 -134 vol.1
Date Publishedmay.
Keywords6-d.o.f. wrist, assembling, assembly strategies, close-fitting chamfered hole, industrial robots, insertion forces, jamming, magic wrist, magnetic levitation, magnetically levitated wrist, parts positioning strategies, peg-in-hole problem, precision assembly, RCC, remote center compliance, six-degree-of-freedom fine motion wrist, wedging

A magnetically levitated six-degree-of-freedom fine motion wrist design based on the prototype magic wrist described by R.H. Hollis et al. (1991) is introduced. Its use for automated assembly, where delicate accommodating motion and precise positioning is required, is discussed. The new wrist is smaller than the prototypes and has several improved features. Parts positioning and assembly strategies are discussed in general, with emphasis on the classic peg-in-hole problem. Results from insertion of a round peg into a close-fitting chamfered hole using the wrist programmed to emulate a remote center compliance are reported. It is found that higher insertion speeds can be maintained with much lower insertion forces and risks of wedging or jamming


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