A Fixture-Free Piston-Stuffing Machine for Flexible Assembly Lines

Takahide Nakayama; Takeshi Mitsunaga; Takenori Hirakawa; Syunji Tanaka

doi:10.20965/jrm.2001.p0294

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JRM Vol.13 No.3 pp. 294-298

doi: 10.20965/jrm.2001.p0294

(2001)

Paper:

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A Fixture-Free Piston-Stuffing Machine for Flexible Assembly Lines

Takahide Nakayama, Takeshi Mitsunaga, Takenori Hirakawa and Syunji Tanaka

Hirata Corporation, 111 Hitotsugi, Ueki-machi, Kamoto-gun, Kumamoto 861-0198 Japan

Received:

January 4, 2001

Accepted:

January 20, 2001

Published:

June 20, 2001

Keywords:

force-control, impedance-control, pistonstuffing, fixture-free, multi-finger, con-rod-guide

Abstract

The possibility of fixture-free stuffing of a piston into cylinder on the basis of a conventional force-control algorithm is verified through an experiment in a prototype of a self-manageable robot for assembling lines.

Cite this article as:

T. Nakayama, T. Mitsunaga, T. Hirakawa, and S. Tanaka, “A Fixture-Free Piston-Stuffing Machine for Flexible Assembly Lines,” J. Robot. Mechatron., Vol.13, No.3, pp. 294-298, 2001.

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