Design of parts handling and gear assembling device

Kengo Yamaguchi, Yasuhisa Hirata, Aya Kaisumi, Kazuhiro Kosuge

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

7 Citations (Scopus)

Abstract

Many one-degree-of-freedom (1-DOF) grippers have been used in factories. This paper focuses on the design of the 1-DOF parts handling device for picking up small objects robustly and agilely and realizing assembly tasks. In our conventional research, we proposed a concept for the handling device, which cages an object without letting the object escape from its tips before closing them completely and then grasps the object robustly at a unique position of the tips. In this paper, we propose a method for designing the shape of the device's tips by considering not only the caging and self-alignment of the object but also the gear assembly task. We also develop the robust and agile pick-up device (RAPiD) with tips designed by the new method and present experimental results that illustrate the ability of RAPiD to handle and assemble gears.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2570-2577
Number of pages8
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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