Development of a Robot System for Chemical Coupler Assembly Using a 6-DOF Compliance Device

In this work, the development of a robot system to unload chemicals from tank lorry to ACQC system is presented. Handling chemical coupler from tank lorry to ACQC system may be hazardous or toxic to human operators, therefore robot automation is introduced. Due to tight tolerance between couplers, compliance between male and female couplers should be employed using a 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a developed collaborative robot, 6-axis compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.