組立用アクティブ・フレキシブル治具の開発（第2報）

―平面対応型アクティブ・フレキシブル治具を用いた組立作業―

抄録

The “active flexible fixture (AFLEF)” on plane level is an active and practical fixture, which can fix any work rigidly and position the fixed work at a few millimeters to correct the position error after gripping on plane level. This paper describes the application of the AFLEF to an assembly. We have combined the AFLEF and a 1-DOF inserting device with the RCC device, which controls a peg only to go down vertically, into a new assembly system for the assembly. However, there are two problems to realize it. One problem is the modification of the “incomplete contact” to the “complete contact” between a polygonal work and each contact-tip of the AFLEF. When four contact-tips of it grip the work, it is very rare that the plane contact is complete at all contact positions because of a rubber-slab and a free joint in the contact-tip. In this paper, we present the modification by using two touch sensors equipped each contact-tip with at both ends of it. Another problem is the method of positioning of a hole-work to the insertion point. Generally, the work is controlled with feedback from position sensor like vision sensor. However, we propose another method needing no vision sensor and taking advantage of the characteristic of the AFLEF in this paper. Therefore, in order to confirm the effectiveness of our proposing modifications of the contact condition and the holework's position, we have tried a peg-in-hole task with the assembly system at twenty times. As results of these trials, although it took a little long time to finish a task, all trials have been realized without failure.