Precision Automated Assembly Device Using Voice Coil Motors

抄録

A precision automated assembly device which can carry out precision insertion is described. The device is composed of voice coil motors and is named VCM-Hand. We have developed a two = hyphen dimensional VCM-Hand operating in a plane surface with three degrees of freedom of motion for the insertion operation. The VCM-Hand realizes a unified treatment of control of forces, moment, compliances, dampings and positions by digital control. The following three major functions can be expected of the VCM-Hand : [A] a tactile sensing function of forces, moment and displacements : [B] a precision actuating function : [C] a variable compliance function (the flexible remote center compliance function). The VCM-Hand is expected to realize some advanced insertion methods by using the above three functions. It is also useful for comparing insertion methods proposed by other researchers.