抄録
To automate an assembling camshaft process(e.g. fixing a shaft to a jig, picking a cam piece, and fitting the piece on the shaft on the designated direction), a promising technique for manipulation of the cam piece is proposed. An end-effector for picking and fitting the cam piece is designed and prototyped to perform substantiative experiments of the technique for manipulation. The end-effector consists mainly of two neodymium magnets to pick and release the cam piece, and its configuration is produced by trial and error through preliminary experiments with careful attention to keep versatility for different type of cam pieces. In addition, a 2DOF robot manipulator is designed and prototyped to evaluate the performance of the end effector.
