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Underactuated Part Alignment System (UPAS) for Industrial Assembly Tasks

[+] Author Affiliations
Brian J. Slaboch, Philip Voglewede

Marquette University, Milwaukee, WI

Paper No. DETC2011-48267, pp. 461-469; 9 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper introduces the Underactuated Part Alignment System (UPAS) as a cost-effective and flexible approach to aligning parts in the vertical plane prior to an industrial robotic assembly task. The advantage of the UPAS is that it utilizes the degrees of freedom (DOFs) of a SCARA (Selective Compliant Assembly Robot Arm) type robot in conjunction with an external fixed post to achieve the desired part alignment. Three path planning techniques will be presented that can be used with the UPAS to achieve the proper part rotation.

Copyright © 2011 by ASME
Topics: Manufacturing



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