The Force Vector Assembler Concept

Summary

A factory for making discrete parts and assembling them into products has four principle elements: 1) material processing systems, 2) internal transportation systems, 3) assembly systems, 4) inspection systems. People play a major role in each of these systems, either supervising or actually performing the necessary functions.

To automate such a factory would require development of new systems for assembly and inspection. Considerable automation exists now in the other areas. High volume, fixed configuration assembly systems are available but these solve simple assembly problems only and are not applicable to small production lots or to mixtures of models.

This paper outlines concepts and describes research results for an assembler system organized around force, tactile and displacement information generated at the interface between two pieces which are being assembled. A mechanical arm (or arms), equipped with sensors in the wrist, communicates with a control computer to accomplish tasks such as putting pegs in tightly fitting holes, following edges, and other tasks in which control action is based on information fed back from the task itself.

Alternate methods of organizing such systems are discussed, along with some of the important trade-offs.