By Topic

Force guided assemblies using a novel parallel manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Morris, D.M. ; Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA ; Hebbar, R. ; Newman, W.S.

In this paper we present recent experimental results using a novel parallel manipulator operating under natural admittance control performing difficult mechanical assemblies. The example assemblies are components from an automotive automatic transmission. Success depends on appropriate force responsiveness, rather than precise position control. The robotic assemblies are shown to be gentler than human assemblies while competitive with human assembly rates. The results show the potential for robotic automation in application areas that are currently limited to manual assembly.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:1 )

Date of Conference: