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Journal cover: Assembly Automation

Assembly Automation

ISSN: 0144-5154

Online from: 1980

Subject Area: Mechanical & Materials Engineering

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Integrated robotic system for high precision assembly in a semi-structured environment


Document Information:
Title:Integrated robotic system for high precision assembly in a semi-structured environment
Author(s):Heping Chen, (Robotics and Automation Labs, ABB Corporate Research Center, ABB Inc., Windsor, Connecticut, USA), George Zhang, (Robotics and Automation Labs, ABB Corporate Research Center, ABB Inc., Windsor, Connecticut, USA), Hui Zhang, (Robotics and Automation Labs, ABB Corporate Research Center, ABB Inc., Windsor, Connecticut, USA), Thomas A. Fuhlbrigge, (Robotics and Automation Labs, ABB Corporate Research Center, ABB Inc., Windsor, Connecticut, USA)
Citation:Heping Chen, George Zhang, Hui Zhang, Thomas A. Fuhlbrigge, (2007) "Integrated robotic system for high precision assembly in a semi-structured environment", Assembly Automation, Vol. 27 Iss: 3, pp.247 - 252
Keywords:Assembly, Automotive industry, Force, Robotics, Visual perception
Article type:Technical paper
DOI:10.1108/01445150710763277 (Permanent URL)
Publisher:Emerald Group Publishing Limited
Abstract:

Purpose – This paper aims to develop a strategy for high-precision assembly in a semi-structured environment based on vision and force control.

Design/methodology/approach – The position and orientation of a part are identified using the vision system. The force/torque control algorithm is then applied to perform a tight-tolerance assembly that is a high-precision assembly.

Findings – The tight tolerance assembly in a semi-structured environment is successfully implemented using vision guidance and force/torque-control strategy.

Practical implications – The developed methodology can be applied to tight tolerance assembly, such as forward-clutch assembly, torque-converter assembly, etc.

Originality/value – An industrial assembly methodology has been developed and implemented for high-precision assembly in a semi-structured environment. This innovation has many potential applications in automotive manufacturing.



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