Force guided assemblies using a novel parallel manipulator

摘要

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.