単腕マニピュレータによる複数物体の同時組み立ての基礎的考察

DOI Web Site

書誌事項

タイトル別名
  • Basic Approach to Robotic Assembly of Multiple Objects by a Single Manipulator

説明

<p>This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.</p>

収録刊行物

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ