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Development of a Flexible Assembly System Using Industrial Robot with Machine Vision Guidance and Dexterous Multi-finger Gripper

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Precision Product-Process Design and Optimization

Part of the book series: Lecture Notes on Multidisciplinary Industrial Engineering ((LNMUINEN))

Abstract

In today’s era of mass customization, assembly automation systems should be designed with necessary production flexibility to cope with the growing product varieties to adapt to diverse customer requirements, yet the production costs should not be significantly different from those of comparable products made by mass production. In order to cope with this product variety-cost trade-off, robotics offers a flexible automation technology for turning assembly systems into efficient and flexible systems. Despite their great potential for high flexibility, there is a range of issues which must be addressed for its successful implementation. This chapter examines some of these key issues and challenges, reviews the results of previous research and describes our ongoing research on development of a flexible assembly system for mechanical products, using an industrial robot with machine vision guidance and dexterous multi-finger gripper. As part of the research work reported in this chapter, a Sexual Genetic Algorithm (SGA)-based approach for generation of optimal assembly sequence, a knowledge-based system for generating the robot task-level plan, a multi-finger robot gripper for flexible assembly based on a tendon-driven mechanism and an impedance control algorithm, and finally a strategy for implementation of robotic assembly under machine vision guidance have been presented.

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Acknowledgements

The authors gratefully acknowledge the funding support received from Indian Institute of Technology Kharagpur under the Centre for Excellence in Robotics grants.

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Authors and Affiliations

  1. FMS and CIM Laboratory, Department of Mechanical Engineering, IIT Kharagpur, Kharagpur, India

    Atul Mishra & Sankha Deb

  2. Advanced Technology Development Centre, IIT Kharagpur, Kharagpur, India

    I. A. Sainul & Sudipta Bhuyan

  3. Department of Electronics & Electrical Communication Engineering, IIT Kharagpur, Kharagpur, India

    Debashis Sen

  4. Department of Electrical Engineering, IIT Kharagpur, Kharagpur, India

    A. K. Deb

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  1. Atul Mishra
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  2. I. A. Sainul
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  3. Sudipta Bhuyan
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  4. Sankha Deb
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  5. Debashis Sen
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  6. A. K. Deb
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Correspondence to Sankha Deb .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Technology Bombay , Mumbai, Maharashtra, India

    Sanjay S. Pande

  2. Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, India

    Uday S. Dixit

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Mishra, A., Sainul, I.A., Bhuyan, S., Deb, S., Sen, D., Deb, A.K. (2018). Development of a Flexible Assembly System Using Industrial Robot with Machine Vision Guidance and Dexterous Multi-finger Gripper. In: Pande, S., Dixit, U. (eds) Precision Product-Process Design and Optimization. Lecture Notes on Multidisciplinary Industrial Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8767-7_2

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  • DOI: https://doi.org/10.1007/978-981-10-8767-7_2

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