Title :
A two-dimensional electrostrictive worktable for robot precise assembly
Author :
Hegao, Cai ; Lining, Sun ; Hui, An ; Tao, Zhang
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol., China
Abstract :
A two-dimensional electrostrictive worktable with high precision, high response is presented. The worktable configuration, static characteristic and dynamic characteristic are described. The error analysis of the worktable is performed. The natural defects of the electrostrictive elements (hysteresis, creep) are solved. By combining the worktable with a general purpose industrial robot, a macro/micro manipulator system is developed. The hydraulic assembly experiments have been successfully performed
Keywords :
assembling; electrostriction; error analysis; industrial manipulators; robots; 2D electrostrictive worktable; dynamic characteristic; error analysis; hydraulic assembly; hysteresis; industrial robot; macro/micro manipulator system; precise assembly; static characteristic; Capacitive sensors; Clamps; Electrostriction; Hydraulic actuators; Hysteresis; Manipulators; Robot sensing systems; Robotic assembly; Service robots; Springs;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467139
