Magnetic Supported Intelligent Hand For Automated Precise Assembly

Toshiro Higuchi; Masahiro Tsuda; Shigeki Fujiwara

doi:10.1117/12.943280

19 October 1987 Magnetic Supported Intelligent Hand For Automated Precise Assembly

Toshiro Higuchi, Masahiro Tsuda, Shigeki Fujiwara

Proceedings Volume 0857, IECON'87:Automated Design and Manufacturing; (1987) https://doi.org/10.1117/12.943280
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

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.

Citation Download Citation

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); https://doi.org/10.1117/12.943280

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