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

1 Citation (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
Externally published	Yes
Event	2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan Duration: 2011 Dec 20 → 2011 Dec 22

Other

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

Fingerprint

ASJC Scopus subject areas

Computer Networks and Communications
Control and Systems Engineering

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] https://doi.org/10.1109/SII.2011.6147539

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, 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

@inproceedings{6c0d5301bf4d494dadcd183d2bc4b7fe,

title = "A human assistant robot system for handling heavy mechanical parts in assembly lines",

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.",

author = "Songgi Lee and Xin Jiang and Koyu Abe and Satoko Abiko and Atsushi Konno and Masaru Uchiyama",

year = "2011",

doi = "10.1109/SII.2011.6147539",

language = "English",

isbn = "9781457715235",

pages = "732--737",

booktitle = "2011 IEEE/SICE International Symposium on System Integration, SII 2011",

note = "2011 IEEE/SICE International Symposium on System Integration, SII 2011 ; Conference date: 20-12-2011 Through 22-12-2011",

}

TY - GEN

T1 - A human assistant robot system for handling heavy mechanical parts in assembly lines

AU - Lee, Songgi

AU - Jiang, Xin

AU - Abe, Koyu

AU - Abiko, Satoko

AU - Konno, Atsushi

AU - Uchiyama, Masaru

PY - 2011

Y1 - 2011

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=84863139787&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84863139787&partnerID=8YFLogxK

U2 - 10.1109/SII.2011.6147539

DO - 10.1109/SII.2011.6147539

M3 - Conference contribution

AN - SCOPUS:84863139787

SN - 9781457715235

SP - 732

EP - 737

BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011

T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011

Y2 - 20 December 2011 through 22 December 2011

ER -

Access to Document

10.1109/SII.2011.6147539