NDLI: A flexible fixtureless assembly of T-joint frame structures

Content Provider	IEEE Xplore Digital Library
Author	Wenjie Chen Xiong Li Sheng Jie Teo Wei Lin Kin Huat Low
Copyright Year	2015
Description	Author affiliation: Nanyang Technol. Univ., Singapore, Singapore (Kin Huat Low) \|\| Singapore Inst. of Manuf. Technol. (SIMTech), Singapore, Singapore (Wenjie Chen; Xiong Li; Sheng Jie Teo; Wei Lin)
Abstract	This paper presents a new flexible fixtureless assembly (FFA) approach for building T-joint structures automatically. The method is based on a Fixturing Assistive Gripper (FAG) mounted on a robot arm for forming T-joint sections. It eliminates possible uncertainties in terms of positioning and size errors during fit-up process. The method is verified by a robotic assembly workcell which includes dual robots and a simple machine vision unit. The basic algorithms for image processing, task planning, dual robot cooperative motion and path planning are developed for assembling a simple structure which predominantly formed by T-joint sections. Experiments show that the workcell can effectively eliminate the alignment error and successfully complete T-joint assembly task without the complicated sensing system typically required in the existing approaches.
Starting Page	2360
Ending Page	2365
File Size	795795
Page Count	6
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353696
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Assembly Robot kinematics Grippers Planning Cameras Welding
Content Type	Text
Resource Type	Article

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