Abstract
We have proposed a concept for picking up small circular parts such as ball bearings, washers, and gears. In this concept, the handling device called RAPiD (Robust and Agile Pick-up Device) cages an object without letting the object escape from its tips before closing them completely and then robustly grasps the object at a unique position based on the self-alignment concept. In this article, we attach the RAPiDs to dual manipulators and Each RAPiD grasps the gear and gear unit with axes, respectively. And then, they perform the gear assembly tasks at an appropriate position determined by considering the conflict between the manipulator and gear unit with several axes and the range of movement and the singular configuration of dual manipulators.
