Study on the Bearing Flexible Assembly by Three Joints Robot
Assembly is an important process in the manufacturing processes. For the badly self-adaptive and flexibility, the stuck phenomena and inefficient are often occurred with certain the assembly precision and fit, by using the robot for assembly. In this paper, the kinematics analysis of the three joints robot, which is used to assembly the bearing, is analyzed; the end joint movement angle formula is calculated. The force sensor is used during the assembly process. To ensure the assembly process, a new way is proposed to find the compliant assembly centre, which help the assembly robot to complicate the assemble process. The bearing assembly process is introduced by the three joint robots system.
Jingtao Han, Sihai Jiao and Zhengyi Jiang
J. H. Zhang et al., "Study on the Bearing Flexible Assembly by Three Joints Robot", Advanced Materials Research, Vol. 422, pp. 131-135, 2012