산업용 로보트를 이용한 유연하고 형상이 복잡한 물체의 자동조립

Robotic assembly of complicated flexible parts

In this study, three insertion techniques vibration method, tactile sensor-assisted method and vision assisted method are developed for the insertion of electric contacts into connectors. In order to prove their Performances, a series of experiments were conducted for various shapes of el-ectric contacts. From the experimental results, three insertion methods are compared and their merits are discussed in detail.