Share Email Print

Proceedings Paper

Magnetic Supported Intelligent Hand For Automated Precise Assembly
Author(s): Toshiro Higuchi; Masahiro Tsuda; Shigeki Fujiwara
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

The Magnetic Supported Intelligent Hand (MSIH) is a robot hand for precision automated assembly. This paper describes the conception of the MSIH and explains its structure, control system, functions and experimental system. The MSIH has a unique structure incorporating a magnetic-bearing wrist mechanism, in which a floating body, holding a work piece, is supported by controlled magnetic forces without any mechanical contacts. The MSIH has three major functions: 1) the advanced Remote Center Compliance function; 2) the precision-actuating function of all three translations and two rotations of a work piece; 3) the sensing function of forces, moments and displacements. The MSIH can achieve precise insertion operations in various levels and conditions automatically by selecting or combining these functions.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0857, IECON'87:Automated Design and Manufacturing, (19 October 1987); doi: 10.1117/12.943280
Show Author Affiliations
Toshiro Higuchi, University of Tokyo (Japan)
Masahiro Tsuda, University of Tokyo (Japan)
Shigeki Fujiwara, Matsushita Electric Works, Co. (Japan)

Published in SPIE Proceedings Vol. 0857:
IECON'87:Automated Design and Manufacturing
Victor K.L. Huang, Editor(s)

© SPIE. Terms of Use
Back to Top