Provided is a machining method for improving machining quality for a machining target by minimizing vibrations occurring during machining of each machining region, deformation of a shape of the machining region, and a position error of the machining region by selecting a machining path in consideration of the number of fixing jigs and a distance between jigs at each machining region. A method for machining a carbon fiber reinforced plastic (CFRP) using a machining path and a machining order in view of a jig arrangement includes i) an operation in which shape data of a machining target is input to a controller ii) an operation in which a position of each of a plurality of flexible jigs is controlled, iii) an operation in which when the machining target is seated on the flexible jig, position information of the machining target in contact with each of the flexible jigs is generated and transferred to the controller, iv) an operation in which the controller generates a machining path according to a start machining region and a machining order for the machining target by comparing the input position of the flexible jig with position and shape data of the machining target, and v) performing machining, by a tool, on the machining target.

A manipulator including a shaft driven by a first motor, a rotatable unit, a linear slider, and a gripper is provided. The rotatable unit is coupled to the shaft, wherein the rotatable unit rotates with rotation of the shaft. The linear slider disposed on a first surface of the rotatable unit configured to slide from an initial position proximate to an outer edge of the rotatable unit to intermediate positions and to a final position proximate to a center of the rotatable unit. The gripper coupled to the linear slider to facilitate movement of the gripper along a first plane defined by the first surface of the rotatable unit.

A system for monitoring a process step during manufacturing of an assembly sheet includes a detection camera configured to capture a first image of the assembly sheet, the first image including a locating feature of the assembly sheet, a vacuum hold-down device for selectively inhibiting advancement of the assembly sheet along a process step line for a predetermined measurement time, and a measurement camera configured to capture a second image of the assembly sheet responsive to the vacuum hold-down device inhibiting advancement of the assembly sheet, the second image including one or more features of a coupon of the assembly sheet.

A system for monitoring a process step during manufacturing of an assembly sheet includes a detection camera configured to capture a first image of the assembly sheet, the first image including a locating feature of the assembly sheet, a vacuum hold-down device for selectively inhibiting advancement of the assembly sheet along a process step line for a predetermined measurement time, and a measurement camera configured to capture a second image of the assembly sheet responsive to the vacuum hold-down device inhibiting advancement of the assembly sheet, the second image including one or more features of a coupon of the assembly sheet.

A gripper includes: a base attached to a wrist tip of a robot, a first-surface suction unit provided on the base and capable of sucking a first surface of a box-shaped package in a first suction direction, and a second-surface support unit configured to contact and support a second surface of the package orthogonal to the first surface. The gripper further includes a moving mechanism configured to move the second-surface support unit along a plane parallel to the second surface between a position where the second-surface support unit is retracted toward a base end side of relative to a leading end of the first-surface suction unit in the first suction direction and a position where the second-surface support unit is placed forward from the leading end of the first-surface suction unit while the first-surface suction unit is sucking the first surface.

A jig positioning system includes a robot arm and a control unit. The robot arm grips an assembly jig designed to be positioned on an assembly table. The control unit controls motion of the robot arm. The control unit causes the robot arm: to grip one or more assembly jigs including the assembly jig that are to be selected in sequence for assembly components; and to adjust position and orientation of each of the one or more assembly jigs in accordance with shapes of the assembly components in course of positioning of the assembly jigs on the one or more assembly table.

Generation of a wrinkle is prevented when a sticker is affixed to an object. A sticker affixing system includes an articulated robot, a controller configured to control the articulated robot, a suction tool attached to a distal end of the articulated robot, and a force sensor configured to detect force applied to the suction tool. The controller causes the articulated robot to execute: an operation of moving the suction tool holding a sticker along a surface of an object to which the sticker is affixed; and an operation of adjusting an inclination of the suction tool with respect to a traveling direction (roll axis) of the suction tool and the traveling direction of the suction tool based on a signal from the force sensor.

A gripper includes: a base attached to a wrist tip of a robot, a first-surface suction unit provided on the base and capable of sucking a first surface of a box-shaped package in a first suction direction, and a second-surface support unit configured to contact and support a second surface of the package orthogonal to the first surface. The gripper further includes a moving mechanism configured to move the second-surface support unit along a plane parallel to the second surface between a position where the second-surface support unit is retracted toward a base end side of relative to a leading end of the first-surface suction unit in the first suction direction and a position where the second-surface support unit is placed forward from the leading end of the first-surface suction unit while the first-surface suction unit is sucking the first surface.