A Flexible Robotic Assembly System Combining CAD Based Localization, Compliance Control, and a Multi-Modal Gripper

As manufacturing trends shift towards customized production, the demand for agile automation systems capable of efficient adaptation to rapidly changing task requirements is rising. This work presents a flexible robotic assembly system that combines CAD based component localization, compliance control, and a multi-modal gripper to enable robust and efficient programming of complex tasks. The process can be easily configured for novel assemblies through a dedicated Graphical User Interface (GUI), which facilitates component identification and task sequencing. Component poses are extracted from 3D CAD models in reference to the assembly origin, while the active compliance scheme compensates for minor positioning errors. The gripper incorporates a parallel jaw element, a rotating module, and an electromagnet to minimize retooling delays. The first iteration of the proposed system placed first in the manufacturing track of the Robotic Grasping and Manipulation Competition of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), experimentally validating its efficiency.

Automated summary

In response to the increasing demand for customized production, a flexible robotic assembly system has been developed. This system combines CAD based component localization, compliance control, and a multi-modal gripper for efficient programming of complex tasks. With a dedicated Graphical User Interface, the system can be easily configured for novel assemblies, showing high efficiency and effectiveness.