This paper introduces the underactuated part alignment system (UPAS) as a cost-effective and flexible approach to aligning parts in the vertical plane prior to an industrial robotic assembly task. The advantage of the UPAS is that it utilizes the degrees of freedom (DOFs) of a SCARA (selective compliant assembly robot arm) type robot in conjunction with an external fixed post to achieve the desired part alignment. Additionally, the UPAS is not constrained to work with rigid, polygonal parts. Three path planning techniques are presented that can be used with the UPAS to achieve the proper part rotation. The results from laboratory testing show that the UPAS can be used to consistently achieve the desired part rotation to within 0.5% of the desired value.
Underactuated Part Alignment System for Industrial Assembly Applications
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received October 28. 2011; final manuscript received August 7, 2012; published online October 19, 2012. Assoc. Editor: Sundar Krishnamurty.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Slaboch, B. J., and Voglewede, P. A. (October 19, 2012). "Underactuated Part Alignment System for Industrial Assembly Applications." ASME. J. Mechanisms Robotics. February 2013; 5(1): 011006. https://doi.org/10.1115/1.4007709
Download citation file:
- Ris (Zotero)
- Reference Manager