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 | |
| 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 |
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ASJC Scopus subject areas
- Computer Networks and Communications
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
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
SN - 9781457715235
SP - 732
EP - 737
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
ER -