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- Publisher
- Springer International Publishing
- Copyright
- © Springer Nature Switzerland AG 2021
- ISBN
- 978-3-030-51590-4
- Pages
- 145 –158
- DOI
- 10.1007/978-3-030-51591-1_7
- Publisher site
- See Chapter on Publisher Site
Abstract
[In this chapter, the concept of robotic tooling that can be transferred between manipulators without the use of tool—repositories or other hardware equipment is discussed. The concept is in line with the principles of fixtureless assembly that do not require stationary tooling for the handling and processing of parts. The implementation of both hardware and control software aspects needs a number of challenges to be addressed. One of the greatest challenges is the contact forces, which are developed between the flanges of the robots during the tool exchanging process. This research presents a concept for enabling exchangeable end effectors and provides the modelling base for such an implementation.]
Published: Oct 1, 2020