(also known as "hard tooling") are used in industry to
align and hold parts for joining operations. These fixtures are
part specific and must be changed whenever the product is changed.
This process, known as "re-tooling", is very expensive
and time consuming. With robotic fixtureless assembly (RFA) the
fixtures are replaced with sensor-guided robots equipped with programmable
grippers. We have developed an RFA workcell that has been tested
using a four component automotive sub-assembly. This workcell involves
several technical advances:
Grasp planning strategies for accurately and rigidly locating
servo grippers capable of handling a large range of part sizes
3D pose measurement and correction (using 3D machine vision).
of initial part placement errors using 2D machine vision.
control for high speed motion of flexible payloads.
the robotic fixtureless assembly of a four component
Gary Bone, Dr. David Capson, Jay Stavnitzky, Lucian Balan, Michael
Colella, Derek Matthews, William Plut, Robert van Varseveld, Thomas
Vermeltfoort and Timber Yuen.
Information Please Contact:
Dept. of Mechanical Engineering
Hamilton, Ontario, CANADA, L8S 4L7.
Phone: (905) 525-9140 ext 27591
e-mail: gary at mcmaster.ca