A human assistant robot system for handling heavy mechanical parts in assembly lines

Songgi Lee; Xin Jiang; Koyu Abe; Satoko Abiko; Atsushi Konno; Masaru Uchiyama

doi:10.1109/SII.2011.6147539

A human assistant robot system for handling heavy mechanical parts in assembly lines

Songgi Lee, Xin Jiang, Koyu Abe, Satoko Abiko, Atsushi Konno, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Recently, industrial robots are widely employed in various fields. However, some assembly tasks are still manually completed because of complicate assembly sequences and requirements of high accuracy positioning. Therefore, we propose a new system in which human workers cooperate with assistant robot complementarily in assembling a heavy mechanical part. This paper describes the prototype of a gravity compensation mechanism and a gripper employed in this robot. The gravity compensation mechanism is designed to relieve the burden of worker for holding the mechanical part. The developed gripper is characterized by its implementation of non-force closure grasping. It allows to change the attitude of the payload in the envelope of the gripper closure.

Original language	English
Title of host publication	2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages	732-737
Number of pages	6
DOIs	https://doi.org/10.1109/SII.2011.6147539
Publication status	Published - 2011 Dec 1
Externally published	Yes
Event	2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan Duration: 2011 Dec 20 → 2011 Dec 22

Publication series

Name	2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other	2011 IEEE/SICE International Symposium on System Integration, SII 2011
Country/Territory	Japan
City	Kyoto
Period	11/12/20 → 11/12/22

ASJC Scopus subject areas

Computer Networks and Communications
Control and Systems Engineering

Access to Document

10.1109/SII.2011.6147539

Cite this

Lee, S., Jiang, X., Abe, K., Abiko, S., Konno, A., & Uchiyama, M. (2011). A human assistant robot system for handling heavy mechanical parts in assembly lines. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 732-737). [6147539] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147539

A human assistant robot system for handling heavy mechanical parts in assembly lines. / Lee, Songgi; Jiang, Xin; Abe, Koyu et al.

2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 732-737 6147539 (2011 IEEE/SICE International Symposium on System Integration, SII 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, S, Jiang, X, Abe, K, Abiko, S, Konno, A & Uchiyama, M 2011, A human assistant robot system for handling heavy mechanical parts in assembly lines. in 2011 IEEE/SICE International Symposium on System Integration, SII 2011., 6147539, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, pp. 732-737, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, Japan, 11/12/20. https://doi.org/10.1109/SII.2011.6147539

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AB - Recently, industrial robots are widely employed in various fields. However, some assembly tasks are still manually completed because of complicate assembly sequences and requirements of high accuracy positioning. Therefore, we propose a new system in which human workers cooperate with assistant robot complementarily in assembling a heavy mechanical part. This paper describes the prototype of a gravity compensation mechanism and a gripper employed in this robot. The gravity compensation mechanism is designed to relieve the burden of worker for holding the mechanical part. The developed gripper is characterized by its implementation of non-force closure grasping. It allows to change the attitude of the payload in the envelope of the gripper closure.

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A human assistant robot system for handling heavy mechanical parts in assembly lines

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ASJC Scopus subject areas

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