GRASPING AND ASSEMBLING WITH MODULAR ROBOTS Jungwon Seo Vijay Kumar and Mark Yim A wide variety of problems, from manufacturing to disaster response and space exploration, can benefit from robotic systems that can firmly grasp objects or assemble various structures, particularly in difficult, dangerous environments. In this thesis, we study the two problems, robotic grasping and assembly, with ...

We propose metrics for evaluating the performance of robotically assembled discrete cellular lattice structures (referred to as digital materials) by defining a set of tools used to evaluate how the assembly system impacts the achievable performance objective of relative stiffness. We show that mass-specific stiffness can be described by the dependencies E∗(γ,D(n, f ,RA)), where E∗ is specific ...

This paper reports a case study on the User Experience (UX) of an industrial robotic prototype in the context of human-robot cooperation in an automotive assembly line. The goal was to find out what kinds of suggestions the assembly line workers – who actually use the new robotic system – propose in order to improve the human-robot interaction (HRI). The operators working with the robotic proto...

Majumder, Reif and Sahu presented in [11] a model of reversible, errorpermitting tile self-assembly, and showed that restricted classes of tile assembly systems achieved equilibrium in (expected) polynomial time. One open question they asked was how the model would change if it permitted multiple nucleation, i.e., independent groups of tiles growing before attaching to the original seed assembl...

1 Corresponding Author. Asst. Prof., Electrical Engineering and Computer Science Dept., Glennan 515B. 2 Ph.D. Student, Mechanical and Aerospace Engineering Dept., Glennan 109. Abstract. Robotic assemblies are inherently hybrid systems. This paper pursues a class of multi-tiered peg-inhole assemblies that we call “peg-in-maze” assemblies. These assemblies require a force-responsive, low-level co...

Changeability is mandatory for top class automotive industry to cope with new product development paradigms and demanding market. Hybrid Reconfigurable Assembly Systems (H-RMSs) address a customized flexibility on product families, given by coexistence or cooperation of human workers and robots. Key-issues for the effective design of harmonized hybrid assembly systems are: modularity; integrabi...

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts. The compensation of misalignment during robotic peg-in-hole assembly is achieved by this compliant micro gripper because the piezoelectric actuator has capability of producing the displacement i...

This paper presents a technology for robotic assembly of Polymer Electrolyte Membrane Fuel Cells (PEMFCs). We describe the most recent configuration of the end-effector used for robotic assembly of PEMFCs, the robot workcell, the fuel cell components and the method of automated assembling fuel cell stacks. In this second generation of end-effector and workcell designs, the productivity of the a...

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for r...

In this paper, the advantages and performance of genetic programming in use of error recovery planning in robotic assembly systems is discussed. Existing systems use polynomial time planning techniques or heuristics to produce error recovery plans. However, these systems require translation of the generated plans to working controller codes. An alternative approach could be the use of Genetic P...