Autonomous assembly devices and related control strategies

Abstract

This chapter will concentrate on the research work being carried out at the University of Wales Institute of Science and Technology (U.W.I.S.T), sponsored by the Science and Engineering Research Council, concerned with the development of intelligent robotic devices to enhance automatic assembly systems. Industrial robots have recently been introduced to the assembly environment with the aims of doing the work of several work stations. This results in a cheaper assembly system that is economically viable at lower production volumes and can be modified as product developments are introduced. The authors work on adaptable handling systems shows that relatively simple devices can be manufactured to accommodate misalignments between parts. By the use of appropriate control strategies chamfered pegs can be assembled whether or not initial contact occurs on the chamfer.