In context
In early 2024, automated assembly of thin-walled fragile components remained a persistent challenge in manufacturing, as rigid grippers often caused breakage due to part tolerances and positioning errors. This work addressed that gap with a compliant manipulator design.
What was reported
Researchers proposed a manipulator configuration featuring dual passive compliance, specifically for grasping and assembling thin-walled fragile parts, such as raw material rings used in synthetic diamond synthesis. The design criteria were derived from an analysis of potential assembly errors, focusing on a key compliant ring component.
Using a 3D model in ADAMS simulation, the team studied the manipulator's response during assembly, measuring workpiece stress and compliant ring deformation. Results showed that when pose deviations existed between the fragile workpiece and the punch, the structure adaptively deformed to correct the grasp pose, enabling successful assembly.
A physical prototype was built and tested, confirming the simulation findings and validating the approach for real-world use.
Why it mattered
This work offered a practical solution to a longstanding problem in precision assembly, potentially reducing scrap rates and enabling more reliable automation for fragile components in industries like electronics and advanced materials.
“The designed manipulator structure can adjust its position and posture for grasping the workpiece through adaptive deformation, to successfully finish the assembly even when there are position and posture deviations.”
Source: 《机器人》期刊 (robot.sia.cn) · Published 2024-02-04 · “具有双重被动柔顺特征的撑套式装配机械手构形设计与特性研究”