ICRA 2012 Paper Abstract


Paper WeA04.4

CHEN, FEI (Nagoya University), Sekiyama, Kosuke (Nagoya University), Di, Pei (Nagoya University), Huang, Jian (Huazhong University of Science and Technology), Fukuda, Toshio (Nagoya University)

I-Hand: An Intelligent Robotic Hand for Fast and Accurate Assembly in Electronic Manufacturing

Scheduled for presentation during the Regular Session "Novel Robot Designs" (WeA04), Wednesday, May 16, 2012, 09:15−09:30, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 19, 2018

Keywords Intelligent and Flexible Manufacturing, Product Design, Development and Prototyping, Industrial Robots


In electronics manufacturing system, the design of the robotic gripper is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic grippers, the status of assembly parts during the assembly process cannot be effectively detected. In this research, an intelligent robotic gripper i-Hand equipped with multiple small sensors is designed and built for this purpose, getting the essential parameters for some specific mathematical model. Mating connectors by robot, as a experimental case in this paper, is studied to evaluate the performance of i-Hand. A simple new model is proposed to describe the process of mating connectors, within which the distance between the connector and deformable Printed Circuit Board (PCB) is detected by i-Hand. An online Fault Detection and Diagnosis algorithm (FDD) is proposed. Various possible situations during assembly are detected and handled by using sensor data fusion. The effectiveness of proposed model and algorithm is proved by the experiments.



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