Robotic assembly: a synthesizing overview

Abstract

SUMMARYRobotic assembly systems offer tremendous promise for the flexible assembly automation but present a variety of complex research issues due to the positioning inaccuracy of the manipulator, dimensional variation of mating parts and their physical interactions. This paper provides an up-to-date survey of researches in robotic assembly with emphasis on parts mating technology. Depending upon the mating strategy, presently available methods of performing precision assembly operations are classified and their advantages and limitations are discussed from the view points of the system complexity, adaptability and reliability. The performance variables such as the mating speed, positioning error absorbing capability and applicability are compared in some details for various assembly methods.

Theoretical and kinematic solution of high reconfigurable grasping for industrial manufacturing

“…Whereas, in the other scenario, the parts are easy to assemble; but the handling is a challenge, because their shapes are elaborated and very different each other [7]. Following the aforementioned situations, it is clear the grasping devices are designed to work in a given environment and to perform a specific class of tasks [8]. This work deals with the second scenario and the authors will present the concept of new gripper solution for industrial application.…”

Error prevention in robotic assembly tasks by a machine vision and statistical pattern recognition method

“…The first activity includes methods for designing the product as well as the assembly systems in order to reduce assembly errors; when a reliable manufacturing process for a part is developed, a high conformity of parts can be accomplished and thus external faults are diminished. The second activity involves passive accommodation, active accommodation and passive-active accommodation (Cho et al 1987). While the active methods compensate for misalignments based on sensory feedback, the passive methods are designed on the basis of either component elastic deformation under the influence of contact forces or the application of external forces in an open-loop manner.…”

Combination of strategy investigation and utilization of sensor signals in robotic assembly

“…The current objective is to achieve the peg±hole insertion with some initial angular and lateral errors which are the result of location errors. This approach has been extensively studied due to its wide application in manufacturing industry [1,2]. There are two principal ways to accomplish peg±hole insertion:…”