부산대학교 도서관

To automate an assembling camshaft process(e.g. fixing a shaft to a jig, picking a cam piece, and fitting the piece on the shaft on the designated direction), a promising technique for manipulation of the cam piece is proposed. An end-effector for picking and fitting the cam piece is designed and prototyped to perform substantiative experiments of the technique for manipulation. The end-effector consists mainly of two neodymium magnets to pick and release the cam piece, and its configuration is produced by trial and error through preliminary experiments with careful attention to keep versatility for different type of cam pieces. In addition, a new experimental apparatus consisting of 4DOF fixed stage and 2DOF motion stage, is designed to evaluate and analysis the insertion performance of the end-effector. And the experiment was conducted to measure the force acting on the shaft during insertion insertion performance.