Force-guided robot in mobile phone assembly
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Date
2004-01
Authors
Kong, Suh Chin
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Abstract
Assembly of mobile phone is currently carried out manually by human operation. Due
to the labour intensive and labour shortage factor, the assembly operations are preferred
to be automated. Assembly operation of mobile phone such as notch-locked assembly
can only be performed using fine motion planning where force information is used to
adjust the manipulator motion during the assembly. The objective of this research is to
study and automate the assembly process of mobile phone using force-guided robot.
This thesis presents the results of the study and implementation of force-guided robot in
the automated assembly of a mobile phone. A case study was initially carried out to
investigate the assembly operations and strategies involved in the mobile phone
assembly. A force-guided robot was developed by upgrading an existing conventional
industrial robot using a multi-axis force sensor and a custom-built low cost compliance
device. Proportional-based external force control with computational of position
feedback was de\ eloped and implemented in the force-guided robot to perform the
compliant motions required for the assembly. In order to perform the mobile phone
assembly operations, three basic force-guided robotic skills were identified. These are
stopping, aligning and sliding skills in which the motions are guided by the force
robotic skills and the experimental results are presented. The basic force-guided robotic
skills were combined and reprogrammed with fine motion planning to perform notchlocked
assembly in the mobile phone. The approach was tested in the presence of
component misalignment in multiple axes. Experimental results show'ed that the
approach not only performs notch-locked assembly but also overcomes the
isalignment problems that may fail the assembly operation. The system was optimized
for high assembly speed while considering the constraints and limitations involved.
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Keywords
Automate the assembly process of mobile phone , using force-guided robot.