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Development of assembly system with quick and low-cost installation |
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| Authors: | Masanari Tennomi Atsushi Okamura Yuta Nakamura Taiki Abe Seiji Wakamatsu Sho Tajima |
| Affiliation: | 1. Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa, Japan;2. College of Science and Engineering, Kanazawa University, Kanazawa, Japan;3. Graduate School of Science and Technology, Shinshu University, Nagano, Japan |
| Abstract: | ABSTRACTCell 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. |
| Keywords: | Assembly system industrial robot robot hand mechanically-compliant joint system integration |