Shaft Inserting into Moving Object Using Robot Equipped End Effector with Position Error Sensor

Abstract

Shaft inserting is important and frequent operation for the automatic parts assembling. Because our proposed cross PSD sensor can not detect the position error during the shaft inserting, we propose the new position sensor system by using one dimensional PSDs. This sensor can detect the position error between the center of the shaft and the center of the hole in real time. First, we show the detecting principle of this sensor and structure of the end effector with this sensor. The center of the sensor coincides with the center of the shaft. The sensor can detect the position error when the distance between the target hole and the sensor changes. So this sensor can detect position error during shaft inserting. Next, we show the configuration of the robot system with the end effector. By using this robot system, the robot can insert the shaft into the hole of the moving object with the clearance of 50μm at a velocity of 80mm/s. Though the proposed sensor system is simple structure, it is effectiveness for the shaft inserting into the hole of the moving object.