DocumentCode
2096264
Title
A precision manipulator module for assembly in a minifactory environment
Author
Brown, H. Benjamin ; Muir, Patrick M. ; Rizzi, Alred A. ; Sensi, Maria C. ; Hollis, Ralph L.
Author_Institution
The Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
2
fYear
2001
fDate
2001
Firstpage
1030
Abstract
We describe the mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly deployable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emulating a SCARA robot. This arrangement provides increased precision, higher throughput, smaller footprint, and increased flexibility relative to the SCARA robot
Keywords
assembling; industrial manipulators; 2 DOF robot manipulator; 4 DOF assembly operations; assembly; minifactory environment; modular robotic agents; precision manipulator module; Assembly systems; Elbow; End effectors; Friction; Laboratories; Manipulators; Robot sensing systems; Robotic assembly; Shoulder; Throughput;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.976304
Filename
976304
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