Articles | Volume 13, issue 2
https://doi.org/10.5194/ms-13-701-2022
https://doi.org/10.5194/ms-13-701-2022
Research article
 | 
08 Aug 2022
Research article |  | 08 Aug 2022

An innovative device for enlarging the allowable misalignment for screwing tasks

Hao-Tien Ku and Yu-Hsun Chen

Cited articles

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Ginani, L. S. and Motta, J. M. S. T.: Theoretical and practical aspects of robot calibration with experimental verification, J. Braz. Soc. Mech. Sci., 33, 15–21, 2011. 
Hsu, K. L. and Chung, J. Y.: A Modular Method for Mechanical Error Analysis of Planar Linkages Composed of Class II Assur Group Kinematic Chains, ASME Journal of Mechanisms Robotics, 14, 014503, https://doi.org/10.1115/1.4051703, 2021. 
Kim, U., Park, D. I., Jo, G., Jeong, H., Kim, H. S., Song, S. H., and Park, C.: Displacement Sensor Integrated Into a Remote Center Compliance Device for a Robotic Assembly, IEEE Access, 9, 43192–43201, 2021. 
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Short summary
To lower the frequency of suspending and calibrating a robot manipulator, an innovative device for enlarging the allowed position error is proposed in this study. It is a purely mechanical device without any electrical sensors. A trigger mechanism with a spring is used to replace a touch sensor and an actuator, and a six-bar linkage delivers the bolt to the hole that the trigger mechanism detected for it to be screwed in. The functions of the new device are verified through prototype testing.
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