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

    研究成果: Conference contribution

    2 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2011 IEEE/SICE International Symposium on System Integration, SII 2011
    ページ732-737
    ページ数6
    DOI
    出版ステータスPublished - 2011 12 1
    イベント2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
    継続期間: 2011 12 202011 12 22

    出版物シリーズ

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

    Other

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

    ASJC Scopus subject areas

    • コンピュータ ネットワークおよび通信
    • 制御およびシステム工学

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