Compliance Mechanism for Assembly Robot
Original Publication Date: 1986-Dec-01
Included in the Prior Art Database: 2005-Mar-09
A compliance mechanism is provided for a vacuum chuck device of an assembly robot used, for example, to position an article having a hole above a tapered rod and assemble the article such that the rod is inserted into the hole. The vacuum chuck device includes a low-friction X slide 1 mounted on a low-friction Y slide 5. An air cylinder-actuated positioning pin is engaged with the X slide to position and lock the vacuum chuck device at a reference position prior to assembly operation. At the time of assembly, the positioning pin is disengaged from the X slide such that the slides can move in response to the engagement of the edge of the hole with the tapered surface of the rod to thereby correct lateral misalignment of the article relative to the rod. Fig.