Abstract
Nowadays, many types of manipulators have been developed and used in lots of production processes. Force-based control methods or additional mechanical devices called Remote Center Compliance (RCC) have increased the system’s compliance and accuracy. However, the force-based control method’s operating speed is low, and the RCC cannot measure deflection. Thus it cannot calculate the position of the end-effector accurately. For accurate force and position control, it is necessary to measure the deflection of the RCC and to perform this, a different type of device than the existing RCC is required. This paper presents the necessity and possibility of developing an RCC capable of measuring the displacement of the end-effector and showing the displacement sensor’s feasibility using a 6 DOF parallel mechanism. In particular, we suggest that it is possible to make devices cheaper and more compact by using angular displacement sensors. Finally, we show the possibility of use in actual industrial sites through peg-in-hole simulation using the device.
Highlights
IntroductionOver the last few decades, manipulators have been developed and used in many production processes
Sensor Using RUS ParallelOver the last few decades, manipulators have been developed and used in many production processes
It is essential to use force control techniques when measuring the reaction forces generated during assembly and control [1,2]
Summary
Over the last few decades, manipulators have been developed and used in many production processes. Robots that can collaborate with humans have been researched. The robot cannot participate in every part of the process because of the limitations of the robot’s flexibility. It is easy to fail the assembly process despite minimal errors, which can cause serious damage to the robot and assembly parts. It is essential to use force control techniques when measuring the reaction forces generated during assembly and control [1,2]. Hybrid control techniques are used when combining position control and force control [3]. These techniques have the advantage of having good accuracy
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