Shaft insertion into moving object using robot manipulator with cross typed PSD

Shaft insertion is a frequent and important operation in automatic parts assembly. To insert a shaft, the active method using the force sensor and the passive method using RCC (remote center compliance) system have been studied. We develop the sensor using a cross typed PSD (position sensitive device) as the position sensor and the shaft inserting system for the moving object with the robot system applying this new sensor. The robot with this sensor can insert a shaft into the hole of the moving object with 100μm of the clearance at a speed of 40mm/s. Our proposed system is effective for the shaft inserting into the hole of the moving object