Abstract
The magnetically supported intelligent hand (MSIH) is a unique robot end-effector for automating precise insertion operations. This paper illustrates its structure, control system, and capability. It also presents the experimental system and the experimental results of automated insertion by the MSIH, The MSIH has a friction-free and backlash-free structure with precision 5-DOF (degrees of freedom) control due to the magnetically contactless support. The levitated unit, which holds a work-piece, is supported by the attractive magnetic forces of electromagnets. The attractive forces are controlled based on the outputs of gap sensors measuring the 5 DOF of the levitated unit. The structure allows the MSIH to have three basic functions: (1) programmable compliance; (2) precision 5-DOF actuation; and (3) 5-axis force sensing. By using these functions, the MSIH can achieve precision insertion. It can work as a programmable remote centre compliance (RCC) and can overcome the limitations of such mechanical elast...
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