• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
• /
• pp.146-146
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• 2003

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.10a
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• pp.3-4
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• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2008.06a
• /
• pp.95-96
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• 2008

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.10
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• pp.7-14
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• 2002

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.4
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• pp.5-11
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• 2003

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2007.06a
• /
• pp.651-652
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2013.05a
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• pp.461-462
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
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• pp.597-598
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• 2009

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.395-400
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• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deformable structures. In this work, we propose another type of assembly devices which generate the compliance effects by attaching the compliances (or spring) at the joints of the given mechainsm. The compliance models are derived for a serial-type, parallel-type, and hybrid-type mechanisms, respectively. In particular, a planar three-degree of freedom parallel structure is shown to have RCC points at the center of the workspace for its symmetric configuratings.