Automatic assembly method with the passive compliant device

摘要

Industrial robots have been used in the various manufacturing processes such as part handling, palletizing, welding, assembly, processing and so on. Automatic assembly with robotic systems becomes more important to increase the rate of assembly automation in the industrial field. However, assembly task is generally automated only for uncomplicated workpieces which have the simple shape and high tolerance. Although there are currently some kinds of automatic assembly technologies including the visual feedback, the active control algorithms and the passive compliance mechanism, these methods are insufficient for the easy application and the stability. In the paper, a new concept of the passive compliant device with the displacement measurement system and the robotic assembly strategy are proposed to increase the performance of the robotic assembly system.