Smart Passive Compliance Device System for Precision Assembly Task with Industrial Robot

摘要

As the use of robots on industrial sites increases, the demand for assembly technologies for robots is growing. However, small parts such as mobile IT parts are difficult to assemble as industrial robots due to positioning inaccuracy. Therefore, force control or RCC(Remote Center Compensators) devices are usually suggested method. Force control methods require expensive sensors and are difficult to obtain stability in comparison to position control systems. To this end, the research applied RCC structure to developed passive compliance devices. Research is carried out on the assembly task of industrial robots.