Metal working – Method of mechanical manufacture – With testing or indicating
Patent
1987-04-13
1989-12-05
Spar, Robert J.
Metal working
Method of mechanical manufacture
With testing or indicating
29468, 29719, 324208, 901 45, B25J 1100
Patent
active
048843296
ABSTRACT:
A precision automatic assembly apparatus for inserting an insertable part into a hole formed in a member includes a movable hand incorporating a movable body to which the insertable part is attached, and an electromagnetic wrist mechanism having a plurality of electromagnets for supporting the movable body and controlling the movable body along a plurality of axes. When the part is inserted into the hole formed in the member, an external force which acts upon the part and the position of a point at which the part contacts the member are estimated by a control unit via position sensing means incorporated in the hand. Currents supplied to the excitation coils of the electromagnetic devices are controlled on the basis of the estimate to adjust the state (position and attitude) of the insertable part, whereby the part is fitted into the hole smoothly and automatically.
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Hienz William M.
Research Development Corporation
Spar Robert J.
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