Taktile Sensoren und ihre Anwendung in programmierbaren Montagesystemen

Summary

When using a future type of industrial robot, tactile sensing will be a main problem to solve advanced handling tasks in assembly. The report shows the possibilities of creating a tactile sensitive gripper/ sensorsystem, to perform some capabilities of the human workers hand. To carry out assembly tasks, several parts or subassemblies must be gripped or joined, using several kinds of grippers or tools. A special wrist was developed, to change these grippers and tools automatically by the arm of the robot. By means of the compliance of the elastic linkage between wrist and the robots arm, the gripper or tool can absorb small joinning forces and compensate joining clearances automatically. A build-in distance measuring system allows the programmed response of the robot in the case of oversized joining forces.