Jig-less Assembly of a Gear Unit with a Versatile Hand Equipped with Functions for Reorientation and Alignment of a Shaft-shaped Part

Abstract

In recent years, jig-less assembly of variously shaped parts and development of versatile hands have been desired for variable type and variable volume production in the manufacturing industry. Focusing on shaft-shaped parts, we developed a versatile hand with parallel stick fingers that is equipped with functions for reorientation and alignment of those parts in our previous study. This paper describes the verification of feasibility and results of jig-less assembly of an example product (a gear unit) containing shaft-shaped parts with the hand.