For robotic assembly system, size and shape errors of parts, orientation errors and size errors make automatic robotic assembly difficult. Authors apply the electromagnet levitation technology to robotic compliant assembly fixture. A new kind of robotic compliant assembly fixture with electromagnet levitation is developed. In this paper, magnetic levitation experiments are finished at first. The experiment results prove that this kind of magnetic levitation method is fit for robotic assembly fixture. Secondly, the fixture is presented. The principle of the fixture is discussed. Lastly, the control system is studied in detail, which includes hardware and software. Hardware of the control system includes computer, sensors, A/D, D/A, and driver circuit. Software of the control mainly is dual cerebella model articulation controller (CMAC) nerve net controller. The experiment of pin-in-hole assembly with robotic is introduced. The experiment result proves that this kind of fixture can eliminate orientation errors.
['Zhang Tie', 'Shao Ming', 'Xie Cun-xi']
Study of robotic compliant assembly fixture with magnetic levitation