Force-guided robot in mobile phone assembly
| dc.contributor.author | Kong, Suh Chin | |
| dc.date.accessioned | 2016-10-28T02:00:24Z | |
| dc.date.available | 2016-10-28T02:00:24Z | |
| dc.date.issued | 2004-01 | |
| dc.description.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. | en_US |
| dc.identifier.uri | http://hdl.handle.net/123456789/2914 | |
| dc.subject | Automate the assembly process of mobile phone | en_US |
| dc.subject | using force-guided robot. | en_US |
| dc.title | Force-guided robot in mobile phone assembly | en_US |
| dc.type | Thesis | en_US |
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