組立用アクティブ・フレキシブル治具の開発(第1報) : 平面対応型アクティブ・フレキシブル治具の試作

概要

論文の詳細を見る
The handling of various works with practicability is required in the automatic assembly system for job shop type production. Our goal is the development of the fixture with the above function. This paper describes the "active flexible fixture (AFLEF)" on plane level as a prototype of the goal. The AFLEF is an active and practical fixture, and it can fix any work rigidly and position the fixed work at a few millimeters to correct the position error after gripping. Its structure is multi-fingered hand type, but it is not more dexterous than general robot-hands but more practical than them. As results of the experiments in rigid fixing and short positioning, the displacement of the fixed work under external force 9.8 N was within 0.3 mm and 0.3 deg. and the maximum positioning error in positioning length 3.0 mm was within 0.3 mm and 0.3 deg.
公益社団法人精密工学会の論文
2005-12-05