Shaft Inserting into the Moving Object using Robot with the Cross Type PSD

摘要

Shaft inserting is frequent and important operation for the automatic parts assemble. To insert a shaft, the active method using the force sensor and the passive method using RCC (Remote Center Compliance) system have been studied. We develop the sensor using the cross type PSD as the position sensor and develop the shaft inserting system for the moving object using the robot with this new sensor. By using the robot with this sensor, the robot can insert a shaft into a hole of the moving object with 100μm of the clearance at a speed of 40mm/s. Our proposed system is effective for the shaft inserting into the hole of the moving object.