疑似接触点位置情報のベアリング組立作業への応用

概要

論文の詳細を見る
Large self-aligning roller bearings are assembled with human hands because it is not mass production, although small ones are assembled by special machines. This task is expected to be done automatically. Main part of the task is insertion of a roller into a hole. It is classified into two parts; one is handling the roller to the hole, and another is pushing it in. This paper presents a new handling method of the roller by a manipulator for bearing assembly task. Our system can estimate the direction and the distance for the compensation of the roller position when the roller touches parts among a hole. The estimation is realized by monitoring the pseudo contact point position calculated from F/T sensor data. Finally, the experimental results show the effectiveness of our method.
社団法人日本機械学会の論文
1999-10-25