Intelligent assembling robots

Citation

(1998), "Intelligent assembling robots", Assembly Automation, Vol. 18 No. 3. https://doi.org/10.1108/aa.1998.03318cad.001

Intelligent assembling robots

Intelligent assembling robots

Keywords Assembly, Robots, Sensors

At the International Robot Exhibition 1997 FANUC demonstrated its "intelligent assembling robot". It is designed to perform complicated assembling work previous robotic technology could not realise and replace the skilled human labour required for complicated assembly of mechanical components. FANUC claims it is the world's first commercialised intelligent robot. By using 6D force sensors and a 3D visual sensor it can pick up complicatedly shaped machine parts randomly scattered in a pallet and perform precise assembling (Plate 1).

FANUC established the basic technology two years ago and is applying it to its dual-armed assembling robots for the production of its smaller robot with a 4kg payload, LR Mate 100i. FANUC is said to have commercialised this expertise into an assembling robot series, 1 21i/6 (6kg payload ), 1 21i/16 (16kg) and 1 21i/45 (45kg).

Plate 1 Intelligent assembling robot (FANUC) with tactile sensors and a visual sensor

Now some mechanical assembly is being done by means of position control, and an additional 2D visual sensor in certain cases. However, it cannot execute a precise assembling task, such as insertion of class HT. Fanuc uses 6D force sensors (three for forces in x, y, z directions and another three for movement around x, y, z axis) to do the job. Furthermore, a 3D visual sensor based on laser distance measuring technology helps to correct the irregular position and orientation of parts.

The 3D visual sensor is also used for random picking of parts from an incoming pallet. Since no special fixture arrangement is necessary it can flexibly adapt to model changes.