Paper Info
Title
Intelligent fixture for automatic assembly by robot - basic theory of manipulation using RBSF mechanism.
Abstract
The development of an intelligent fixture for automatic assembly by the robots that can manipulate and fix a heavy object in three dimensions and make the relocation of the jigs unnecessary is addressed. A new mechanism, which is constructed by the rotational base and the one-DOF fingers, is proposed. It makes the manipulation (mainly rotation) of the heavy target object possible because of its simplicity, but the simplicity causes some problems. The kinematics and the dynamics of manipulation by this mechanism is derived, and it is shown how to plan the manipulation. Simulation and experimental results are reported
Year
DOI
Venue
1993
10.1109/IROS.1993.583194
IROS
Keywords
Field
DocType
welding,robots,dynamics,three dimensions,kinematics,acceleration
Kinematics,Engineering drawing,Fixture,Computer science,Intelligent robots,Control engineering,Acceleration,Robot,Welding
Conference
Volume
ISBN
Citations 
2
0-7803-0823-9
1
PageRank 
References 
Authors
0.58
7
2
Name
Order
Citations
PageRank
Masahito Yashima18110.91
Hiroshi Kimura221.03