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PDF papers
authors Wright, Paul K.
year 1986
title A Manufacturing Hand
source pp. 13- 23 : ill Pittsburgh, PA: Engineering Design Research Center, CMU, September, 1986. includes bibliography.
summary In unmanned Flexible Manufacturing Cells, robots can be used for loading machines, inspection activities, and assembly operations. What kind of robotic end-effector should be built for such tasks? The human hand has evolved to be a general purpose manipulator that adapts to the richness of our daily lives but, in doing so, it is not particularly suited to manufacturing operations. Here, special tools, fixtures, and protective layers are heavily relied on. This paper describes the initial development of a hand specifically for manufacturing work. This has involved the manufacture of an instrumented wrist with an adjustable remote center of compliance, and the design of fingers for gripping. Object shapes have also been analyzed in order to provide for a stable static grip. Importantly, these studies of the physical aspects of prehension have been matched to tasks. The research has considered a range of industrial operations and specified the level of end-effector control needed. This work is leading to some design guides for robotic end-effectors which, it is hoped, will be of use to industrial designers
keywords robotics, CAD, CAM, CAE, automation, manufacturing
series CADline
references Content-type: text/plain
last changed 2003/06/02 11:58
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