Fixtureless Assembly Robotic Workcell

Equipment:
 
 
 

Funding Source:
 

Designer: 
(i)
(ii)
(iii) (iv)

(i)
(ii)
 

(i)
(ii) (iii) (iv) 
two CRS Robotics A460 robots 
two PC 486 micro computers
Transputer development systems 
laser printer

NSERC Equipment Grant
NSERC Strategic Equipment Grant
 

Mr. T. Chang (Research Engineer) 
J.K. Mills
K.S. Lam
A. Rabadi 

     The following figure illustrates the Fixtureless Assembly experimental test-bed. This test-bed emulates a typical future fixtureless assembly workcell in which two robots are used to assemble finished parts without fixtures to orient and clamp parts during assembly. Each of the robots is equipped with an ATI Force/Torque sensor. With signals sensed and processed with the development systems transputer network, advanced schemes can be implemented at up to 1000 Hz. 


Fixtureless Assembly Workcell Test-Bed