| 摘要 |
<P>PROBLEM TO BE SOLVED: To rapidly fit a pin without generating a fitting block. Ž<P>SOLUTION: A first robot 12 is an industrial hexa-axes articulation type robot having a force sensor 38 which can detect the forces of hexa-axial directions at the end of a wrist part. A piston pin 26 is held by the robot 12 to fit the piston pin to a pin hole 24. An axis of the piston pin 26 is substantially aligned with an axis of the pin hole 24 to move the piston pin 26 forward in the direction of an axis C1 toward the pin hole 24. When a level of a pressing force Fz in the direction of the axis C1 exceeds a threshold value T1, the forward movement of the piston pin 26 is stopped. A radial force Fr acting on the piston pins 26 is examined and moves the piston pin 26 in parallel in the same direction. When the radial force Fr acting on the piston pin 26 is small, the piston pin 26 is tilted on a point P1 as a contact point of an end 26a and the pin hole 24 to further move the piston pin to the direction of the axis C1. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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