A FANUC M-1iA robot performs gear assembly using 2D iRVision and Force Sensing. With 2D iRVision, the robot locates the two different gear models. The robot then selects the appropriate tool to pick the particular gear needed to start the assembly. The robot moves to a fixture equipped with an FS-15iA force sensor and assembles the gear onto a shaft. Then the robot changes grippers to pick and assemble the other gear onto a shaft with face match. The flexibility, speed, and accuracy of the M-1iA allows for precision gear placement. The 2d iRVison allows the robot to locate gears of different sizes. The capabilities of the new FS-15iA allow for precision force measurement for properly assembling the gears.

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