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JRM Vol.37 No.2 pp. 434-443
doi: 10.20965/jrm.2025.p0434
(2025)

Paper:

Skill Implemented Motion Planning for Precision Assembly Task of Part Mating Gears

Takahito Yamashita ORCID Icon, Hikaru Suzuki ORCID Icon, and Ryosuke Tasaki ORCID Icon

Department of Mechanical Engineering, College of Science and Engineering, Aoyama Gakuin University
5-10-1 Fuchinobe, Chuo-ku, Sagamihara, Kanagawa 252-5258, Japan

Corresponding author

Received:
September 20, 2024
Accepted:
March 5, 2025
Published:
April 20, 2025
Keywords:
assembly robot, failure prediction, machine learning, robotization
Abstract

This study aims to realize a precision assembly robot system. This system focuses on the mating of precision parts, which is difficult with the current technology, and uses workpiece movements and the sensation of human fingertips as a reference to eliminate assembly failures, such as shaft and hole biting. This approach solves the limitations in robotizable tasks, long teaching times, and possible assembly failures by robots. The proposed method involves measuring human task data, analyzing the movement of assembly parts using averaging (a simple feature extraction method), and deriving the corresponding robot movements. Furthermore, a system is developed to predict decisive assembly failures from force information obtained during tasks by analyzing the force sensation of the human fingertips using a support vector machine (a type of machine learning). Equipped with the prediction system and the derived workpiece motion, the robot performs assembly tasks that typically require human skills.

We propose an assembly system based on human tasks

We propose an assembly system based on human tasks

Cite this article as:
T. Yamashita, H. Suzuki, and R. Tasaki, “Skill Implemented Motion Planning for Precision Assembly Task of Part Mating Gears,” J. Robot. Mechatron., Vol.37 No.2, pp. 434-443, 2025.
Data files:
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Last updated on Apr. 24, 2025