Preliminary study regarding assembly
of storage pins in gears
to Atlas Copco
The feasibility study includes the assembly of needle bearings in a gear. The assembly starts with grease being applied to the walls of the gear hole. YuMi then picks the bearing needles one by one and places them in the gear hole. The bearing needles are picked from a magazine developed at CRTC. YuMi both arms are utilized in such a way that each arm mounts a complete bearing.
The assembly is divided between two robots. The first assembly steps are performed by robot no. 1 and it has its work area "behind the back". When robot no. 1 is finished with its steps, it leaves the assembly fixture to robot no. 2 which completes the assembly.