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Research Article

Year : 2018 | Volume: 2 | Issue: 1 | Pages: 09-25

Overlaid Orthogonal Force Oscillations for Robot Assisted Localization and Assembly

Arun Dayal Udai1*, Subir Kumar Saha2

DOI: JMS_2

Corresponding author

Arun Dayal Udai*

Department of Mechanical Engineering, Birla Institute of Technology, Mesra, Ranchi, India

  • 1. Department of Mechanical Engineering, Birla Institute of Technology, Mesra, Ranchi, India
  • 2. Department of Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas New Delhi, India

Received on: 09/03/2018

Revised on: 09/11/2018

Accepted on: 10/01/2018

Published on: 10/24/2018

  • Arun Dayal Udai, Subir Kumar Saha (2018), Overlaid Orthogonal Force Oscillations for Robot Assisted Localization and Assembly . ISME Journal of Mechanics and Design, 2(1): 09-25. doi: 12

Abstract

In this paper an intuitive and anthropomorphic approach for robot assisted assembly using a joint-torque controlled robots is presented. Overlaid orthogonal force oscillations were utilized to precisely locate a hole, and perform an automated assembly. The work was extended further to a serial-chain standard industrial robot with a 6 Revolute-Spherical-Spherical (RSS) Stewart platform with current limited soft-servo actuators as an add-on wrist. The serial-parallel hybrid robot system was used to perform localization and assembly using current limited soft-servo drives. The reported experiments conducted were consistently successful and motivated using such a strategy for higher order industrial assemblies involving complicated shapes.

Keywords

Robotic Assembly, Serial-Parallel Hybrid Robot, Overlaid Force Oscillation