Articles | Volume 13, issue 2
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

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Subject: Mechanisms and Robotics | Techniques and Approaches: Synthesis
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Cited articles

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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.