Flexible Automation and Integrated Manufacturing 1999

ISBN Print: 978-1-56700-133-4

QUANTIFYING ROBOTIC ASSEMBLY CAPABILITY A REVIEW AND A PROSPECTUS

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DOI: 10.1615/FAIM1999.700
pages 823-834

Robert H. Sturges Department of Mechanical Engineering Virginia Polytechnic Institute and State University Blacksburg, VA 24061

Mohan R. Sainani Department of Industrial & Systems Engineering, Virginia Polytechnic Institute & State University Blacksburg, VA 24061

Abstract

In this paper, we review performance measures for flexible robotic assembly. We have reviewed both technical and economic measures. This paper intends to serve as an application tree of measures for performance evaluation of robotic assembly systems. Dexterity / manipulability measures have been reviewed in detail and their application to robotic assembly systems have been covered in this review. The need for a task based dexterity index using the manipulability measures is examined.

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