Design and Application of an Intelligent Robotic Gripper for Accurate and Tolerant Electronic Connector Mating
Fei Chen*1, Kosuke Sekiyama*1, Baiqing Sun*2, Pei Di*1, Jian Huang*3, Hironobu Sasaki*4, and Toshio Fukuda*1
*1Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
*2School of Electrical Engineering, Shenyang University of Technology, Shenyang, Liaoning 110870, China
*3Department of Control Science and Engineering, Huazhong University of Science and Technology Wuhan, Hubei 430074, China
*4Factory Automation Technology Development, Canon Inc., 70-1 Yanagi-cho, Saiwai-ku, Kawasaki-shi, Kanagawa 212-8602, Japan
In electronic manufacturing systems, the design of the robotic hand is important for successful accomplishment of the assembly task, and also for human and robot coworker coordinated assembly. Due to the restrictions on the architecture of traditional robotic hands, the status of assembly parts, such as position and rotation during the assembly process cannot be detected effectively. In this research, an intelligent robotic hand – i-Hand, equipped with multiple small sensors – is designed and built for this purpose. Mating connectors by robot, as an experimental case in this paper, is studied to evaluate i-Hand performance. A new model that converts the traditional time-zone-driven model to an event-driven model is proposed to describe the process ofmating connectors, within which, most importantly, the distance between the connector and deformable Printed Circuit Board (PCB) is detected by i-Hand. The generated curve has provided more robust parameters than our previously studied Fault Detection and Diagnosis (FDD) classifier. Various possible situations during assembly are considered and handled based on this event-driven work flow. The effectiveness of our proposed model and algorithm is proven in experiments.
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