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19 October 1987 Magnetic Supported Intelligent Hand For Automated Precise Assembly
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Proceedings Volume 0857, IECON'87:Automated Design and Manufacturing; (1987)
Event: IECON, Cambridge, 1987, Cambridge, MA, United States
The Magnetic Supported Intelligent Hand (MSIH) is a robot hand for precision automated assembly. This paper describes the conception of the MSIH and explains its structure, control system, functions and experimental system. The MSIH has a unique structure incorporating a magnetic-bearing wrist mechanism, in which a floating body, holding a work piece, is supported by controlled magnetic forces without any mechanical contacts. The MSIH has three major functions: 1) the advanced Remote Center Compliance function; 2) the precision-actuating function of all three translations and two rotations of a work piece; 3) the sensing function of forces, moments and displacements. The MSIH can achieve precise insertion operations in various levels and conditions automatically by selecting or combining these functions.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Toshiro Higuchi, Masahiro Tsuda, and Shigeki Fujiwara "Magnetic Supported Intelligent Hand For Automated Precise Assembly", Proc. SPIE 0857, IECON'87:Automated Design and Manufacturing, (19 October 1987);

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