Magnetic Supported Intelligent Hand For Automated Precise Assembly

摘要

The Magnetic Supported Intelligent Hand (MSIH) is a robot hand for precision automated assembly. This paper describes the conception of the MSIH and explains its structure, control system, functions and experimental system. The MSIH has a unique structure incorporating a magnetic-bearing wrist mechanism, in which a floating body, holding a work piece, is supported by controlled magnetic forces without any mechanical contacts. The MSIH has three major functions: 1) the advanced Remote Center Compliance function; 2) the precision-actuating function of all three translations and two rotations of a work piece; 3) the sensing function of forces, moments and displacements. The MSIH can achieve precise insertion operations in various levels and conditions automatically by selecting or combining these functions.