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 proceedingConference 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 languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages732-737
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

Fingerprint

Grippers
Robots
Gravitation
Industrial robots
Compensation and Redress

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

A human assistant robot system for handling heavy mechanical parts in assembly lines. / Lee, Songgi; Jiang, Xin; Abe, Koyu; Abiko, Satoko; Konno, Atsushi; Uchiyama, Masaru.

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

Research output: Chapter in Book/Report/Conference proceedingConference 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, 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
Lee S, Jiang X, Abe K, Abiko S, Konno A, Uchiyama M. A human assistant robot system for handling heavy mechanical parts in assembly lines. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 732-737. 6147539 https://doi.org/10.1109/SII.2011.6147539
Lee, Songgi ; Jiang, Xin ; Abe, Koyu ; Abiko, Satoko ; Konno, Atsushi ; Uchiyama, Masaru. / A human assistant robot system for handling heavy mechanical parts in assembly lines. 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. pp. 732-737
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