In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint designs were then used to fabricate complex...

A process monitor for robotic assembly based on hidden Markov models (HMMs) is presented. The HMM process monitor is based on the dynamic force/torque signals arising from interaction between the workpiece and the environment. The HMMs represent a stochastic, knowledge-based system in which the models are trained off-line with the Baum-Welch reestimation algorithm. The assembly task is modeled ...

This paper deals with enhancing the level of autonomy in a robotic work cell. With that mission in mind, we present here an integrated framework for the sensing, the planning, and the execution aspects of assembly. In experimental demonstrations of this system on a PUMA762, we can now throw objects randomly into the workspace of the robot and the robot then automatically synthesizes a manipulat...

high yield and safety engagement. This paper describes the design of different parts of an automated high speed machine to assemble the parts of roller clamps. The roller clamp robotic assembly system performs various processes in the assembly line which include clamp body and roller feeding, inserting the roller into the clamp body, and dividing the rejected clamp and successfully assembled cl...