A human assistant robot system for handling heavy mechanical parts in assembly lines

Songgi Lee, Xin Jiang, Koyu Abe, Satoko Abiko, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Recently, industrial robots are widely employed in various fields. However, some assembly tasks are still manually completed because of complicate assembly sequences and requirements of high accuracy positioning. Therefore, we propose a new system in which human workers cooperate with assistant robot complementarily in assembling a heavy mechanical part. This paper describes the prototype of a gravity compensation mechanism and a gripper employed in this robot. The gravity compensation mechanism is designed to relieve the burden of worker for holding the mechanical part. The developed gripper is characterized by its implementation of non-force closure grasping. It allows to change the attitude of the payload in the envelope of the gripper closure.

    Original languageEnglish
    Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
    Pages732-737
    Number of pages6
    DOIs
    Publication statusPublished - 2011 Dec 1
    Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
    Duration: 2011 Dec 202011 Dec 22

    Publication series

    Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

    Other

    Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
    CountryJapan
    CityKyoto
    Period11/12/2011/12/22

    ASJC Scopus subject areas

    • Computer Networks and Communications
    • Control and Systems Engineering

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