Re-configurable dual-robot assembly system design, development and future directions Academic Article uri icon

abstract

  • This paper describes the design and development of a reconfigurable dualrobot assembly system using offtheshelf reconfigurable pneumatic modules, Halleffect sensors, a vision system, and a programmable logic controller (PLC). Each robot arm consists of three sets of pneumatic modules and a pneumatic gripper. Each module consists of a pneumatic housing, an air cylinder, and a Halleffect sensor, and provides one degree of freedom. Solenoids are used to redirect airflow and thereby extend and/or retract the air cylinder. A vision system is used for fixture inspection. A conveyor and part stopper are designed to transfer and stop pallets. All these modules, the gripper, the part stopper, and the vision system are controlled and synchronized using a PLC. At the end of this paper, a framework for making the system over the Web for remote operation and diagnosis is proposed and described.

published proceedings

  • INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
  • Industrial Robot the international journal of robotics research and application

author list (cited authors)

  • Hsieh, S. J.

citation count

  • 7

complete list of authors

  • Hsieh, SJ

publication date

  • June 2003