Robot-based Industrial Assembly Process Automation

Grinding Task


Assembly Task


 A variable stiffness mechanism (VSM) is a mechanism that possesses a specific range of stiffness rather than a fixed stiffness. Modeling a spring with variable stiffness and using this modeled spring as a basis, we design and manufacture VSM device. These manufactured VSM device is applied to robots and, through control algorithms, facilitate a diverse range of assembly tasks.



We conduct research to enable robots to perform connector assembly tasks. To better understand how humans assemble connectors, we use F/T sensors and vision sensors to quantify the force and motion involved in human connector assembly processes. We aim to enhance the capabilities of robots in performing precision assembly tasks.



Grinding Task


 We aim to use robots to remove welding beads that occur during the metal processing in welding. The robot's end effector is equipped with a grinding tool and performs tasks through complex controls like impedance control. We study methods to enhance work quality and stability during grinding tasks through precise control.



Screwing Task


 We are conducting research on the automation of screw fastening and disassembly processes, a key challenge in smart factories. By analyzing the data from human operators, we are developing a robotic control algorithm and a screwing tool with compliance mechanism. Furthermore, by implementing a force control algorithm for the screwing tool, we aim to address issues such as tool misalignment and operational defects, thereby enhancing precision during the screwing tasks.