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Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems



Kenneth Kimble, Joseph Falco, Elena R. Messina, Karl Van Wyk , Yu Sun, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji


This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertions and fastening operations such as threading, snap fitting, and meshing with standard screws, nuts, washers, gears, electrical connectors, belt drives, and wiring are presented. To support the evaluation of robotic assembly and disassembly operations, benchmarking protocols and performance metrics are presented that leverage these task boards. Finally, robot competitions are discussed as use cases for these task boards.
IEEE Robotics and Automation Letters


Robotic assembly, performance benchmarking, manufacturing


Kimble, K. , Falco, J. , Messina, E. , Van Wyk, K. , Sun, Y. , Shibata, M. , Uemura, W. and Yokokohji, Y. (2020), Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems, IEEE Robotics and Automation Letters, [online], (Accessed May 29, 2024)


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Created March 31, 2020, Updated October 12, 2021