Assembly teaching method using passive compliance gripper

摘要

The present invention is a passive rigid portion for forming a rigidity between the two sides to allow the deformation of the other side in the fixed state of one side; And displacement measuring means installed on the passive stiffness portion to measure displacement due to deformation of the passive stiffness portion. An assembly teaching method using a manual rigid gripper, comprising: a second assembly that is fixed while being held by a worker by teaching a robot equipped with the manual rigid gripper and holding a first component to be assembled into a manual rigid gripper; A position teaching step (SA10) of moving the robot to move the first component to a position adjacent to the component and storing position information of the robot; Assembly to complete the assembly of the first part and the second part through direct teaching using a manual rigid gripper that applies an external force to the gripper holding the first part using an operator's hand or a tool to deform the manual rigid gripper. Teaching step SA20; Error calculation for calculating the position teaching error between the displacement information of the manual rigid gripper in the assembly teaching step SA20 and the position information of the robot taught in the position teaching step SA10. Step SA30; And a position teaching instruction modification step (SA40) of correcting the position teaching instruction using the position teaching error calculated in the error calculating step (SA30) to remove the position teaching error. When the assembly is not completed and the first part is adjacent to the second part, the robot is fixed by applying external force to the gripper part of the manual rigid gripper. The assembly can be completed through direct teaching that only manual rigid gripper is deformed at. In this process, the assembly status can be modified and the path of the assembly location can be corrected. An assembly teaching method using a passive rigid gripper.