A flexible end-effector for robotized assembly

This paper presents requirements for robotized assembly, and a possible solution coined CTFMR (end effector for flexible robotized assembly). The CTFMR was designed, integrated with a PUMA 560 C robot, and tested by the first author, in the CIM laboratory of the IPG (Polytechnic Institute of Guarda), Portugal. The CTFMR includes modules aimed at the safety of people and equipment, continuous error measuring between peg and hole for active insertion, and automatic tool change. A new pneumatic self-centering three-fingered gripper is proposed. This gripper is capable of detecting the absence/presence of objects between the fingers using optical fibre sensors, and of grasping objects of different shapes and sizes, either from the inside or outside of the object. It also prevents the objects from slipping by automatic increase of the gripping forces. The main interest of the CTFMR concept is the increase of safety, flexibility and productivity of robotized assembly.