ドア組付作業支援パートナロボットD-PaDY

—第1報：コンセプトとドア把持部の設計—

抄録

In this research, we have developed a robot called D-PaDY, to work in cooperation with workers in the automobile door assembly line. In this paper, we specifically describe the concept and the design of the Door Gripper. The Door Gripper is a component of the D-PaDY, which automatically grasps a car door. By using the Door Gripper, the D-PaDY cooperates with the worker in the process of assembling the door into the vehicle body, allowing to reduce assembly time and improve the efficiency of the process.