抄録
In order to achieve assembly by using robots, we need a deeper understanding of the tasks. However, it is difficult to analyze complicated assembly tasks by geometrically or statistically based methods. In this paper, we analyze clutch assembly using a dynamic simulator in order to gain such understanding. We especially investigate the qualitative relationship between task efficiency and a search motion for engaging a spline gear with movable clutch plates. Our results indicate the existence of an appropriate search speed that can achieve the tasks efficiently.
