Grippers, Tools and Fixtures for Flexible Automated Assembling

Abstract

The flexibility of an automatic assembly system is a function of the least flexible subsystem. An optimal system design requires a balance of flexibility between these subsystems. An assembly operation is composed of, at least, the following functional subsystems: - System for the sequence of gross motions - System for the insertion of parts - System for gripping an holding parts - Programmable servo controls, sometimes with real time sensory feedback, form the base for high flexibility of the first two subsystems. For the third it is necessary to rely on mechanical design to obtain adequately defined part positions. This often limits the resulting system flexibility. This paper deals with the design for highly flexible grippers, assembly tools and fixtures. Design philosophy and principal solutions are discussed. Experiments involving industrial robots for assembly are demonstrated and analyzed. Conclusions for robot assisted automated assembling are drawn.