Abstract
With the use of industrial robots in assembly a flexible and automatical screwdriving is possible. A main problem is the exact positioning of screw partners to each other. To avoid faulty screwing, caused by large positional tolerances, accommodations are necessary. To solve these problems this article will deal with the theory of physical princips and the layout and construction of passive accommodations for screwdriving. Furthermore a sensor system for the active compensation of larger deviations will be introduced. In connection with a screwdriving unit it is able to compensate angular and lateral misalignments.
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