A vibration generating device for assembly task and a Robot path compensation technique

摘要

Between the present invention relates to a vibration generating device and robot path modifying method for the assembly, one with a robot which a plurality of piezoelectric actuator unit fixed to a flanged portion, a direction, such as the piezoelectric actuator of the plurality of piezoelectric actuator unit of a predetermined length, which is installed integrally with the robot flange fixed end, is installed in a portion intermediate the pivot on the fixed end and provided with a tool mounting portion having a plurality of edges in contact with corresponding to the other end said plurality of piezoelectric actuator unit, wherein each of the piezo actuator portion may be driven to change the respective edge portion position of the tool mounting portion and thereby reduce the frictional forces of the work and during the assembly operation by making the rotary motion generated in a predetermined direction, and also, be able to modify the motion path of the robot this is a difficult assembly work that requires a high degree of accuracy It is function.