An approach to the automation of the assembly of flexible belt-shaped objects

摘要

A robot system was developed for the assembly of flexible belt-shaped objects, and the assembly procedures employed by workers in using it were analysed. A multi-fingered hand was developed to hold the objects at several points, and to move them into the proper position for attachment to a part. In addition, an image processing method that can recognize the gripping positions on source objects and conditions after the source objects are attached is proposed.