ISSN:
1433-3015
Keywords:
Force sensing
;
Multi-finger grip
;
Precision assembly
;
Strain gage
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract Assembly tasks requiring a manipulator to function near or at its accuracy and repeatability limits are frequently required mainly in the electronics industry. Fine correction to the position of the end of arm tool can be achieved by introducing some form of sensing at the destination point. While machine vision is generally used, it is suggested that a less expensive method would be to use touch sensing, in a manner that would model the action of a sight-impaired person. This paper develops the model for force sensing at the end point of the travel of the manipulator arm. It also describes an experimental set-up and the results obtained when conducting peg-in-hole assembly using this technique.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01341555
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