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An assembly task is considered to be a set of motions to obtain the relative proper position of two objects. The set of motions consists of many elemental jobs. This paper proposes the following points for a planning sequence for elemental jobs. The first point is the rate of the freedom change of motion of objects per job step, which is considered to be desirable when it is set small in the sequential flow of elemental jobs. The second point is a partial degree of constraint that is considered to be disirable when it is set large in the early steps. The third point is the ability of an elemental job motion, force line detection and contact preservation. Simple jobs that can handle the forte line are selected as the elemental jobs. Then, a sequential flow that consists of simple elemental jobs is selected. This procedure is adopted for the task of putting a lid on a box.
一般社団法人日本機械学会の論文
1992-11-25