A flexible assembly cell integrating a parallel manipulator for accurate automatic assembly tasks

This paper presents a flexible assembly cell intended to perform precise assembly tasks. This cell includes a C5 joints parallel robot which acts as the force controlled active wrist of a cartesian robot. The strategy of assembly consists of three steps: approach, correction of parts misalignments, and insertion. A hybrid position/force algorithm is implemented in the control system which is equipped with position, force and vision sensors. Experimental results and their discussion are presented.