ボルト締結作業ロボット用コンプライアンス機構の研究

抄録

In the screw-driving work by the work robot, a position error occurs when the accuracy of the robot or the position setting accuracy of the work is low. If the position error is larger than the tolerance, the bolt cannot insert and the screw-driving work cannot be smoothly.

For smooth operation, the robot must have a characteristic (compliance) that flexibly absorbs position errors. As a method of obtaining compliance, there is a method of applying a compliance mechanism. This method has high responsiveness and is effective for screw-driving work.

In this study, we report the results of designing, manufacturing, and experimenting a compliance mechanism that can passively absorb position errors, assuming introduction into screw-driving work using a vertical articulated arm.