DocumentCode
3503699
Title
The dynamic RCC hand for high-speed assembly
Author
Asada, Haruhiko ; Kakumoto, Yoshiki
Author_Institution
Dept. of Appl. Syst. Sci., Kyoto Univ., Japan
fYear
1988
fDate
24-29 Apr 1988
Firstpage
120
Abstract
The design and analysis of a high-speed insertion hand, the dynamic RCC hand, are presented. The dynamic behavior of a peg in high-speed insertion is analyzed. Conditions for the peg to be guided along the chamfer without bouncing on the surface are derived. Mass properties of the peg and its supporting mechanism that enable successful insertion are determined. A high-speed insertion hand is designed on the basis of the dynamic analysis. Experiments demonstrate the feasibility and usefulness of the dynamic insertion hand
Keywords
assembling; control system synthesis; dynamics; industrial robots; position control; assembly; design; dynamic RCC hand; industrial robots; insertion hand; position control; Guidelines; Jamming; Kinematics; Laboratories; Manipulator dynamics; Mechanical factors; Production; Robotic assembly; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12035
Filename
12035
Link To Document