| 摘要 |
<p>PURPOSE:To absorb displacement of an assembly hole at the time of assembling small parts such as a fastener to the assembly hole provided on a member to be assembled. CONSTITUTION:An end effector 2, the position of which in the directions X and Y can be adjusted, and a power sensitive sensor 3 for detecting a load in the direction Z, are provided between a robot arm 1a and a robot hand 4 of an assembly robot 1, and the end effector 2 is controlled based on the ratio of change of the load in the direction X, which is detected by the power sensitive sensor 3, to adjust the position of the robot hand 4 in the directions X and Y, and a fastener 5 can thus be inserted in to an assembly hole 7.</p> |
