Affiliation:
1. Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology, Newark, NJ 07102
Abstract
In most assembly tasks involving mating of parts, industrial robots are not equipped with special compliant devices such as a remote center compliant hand. It is useful to know how the mating force and part movement are affected by assembly compliance, which depends upon robot configuration, and by other assembly parameters such as initial position errors, clearance between mating parts, etc. Such knowledge is helpful to the design of the layout of an assembly cell, specification of robot accuracy, specification of manufacturing tolerance, and so on. This paper derives the mating force and part movement in the mating of rigid cylindrical parts by an industrial manipulator with its own compliance, using a planar peg-in-hole insertion model. The derived mathematical relations are experimentally verified by performing insertion tests with a SCARA-type robot.
Reference24 articles.
1. Asada H. , and KakumotoY., 1990, “The Dynamic Analysis and Design of a High-Speed Insertion Hand Using the Generalized Centroid and Virtual Mass,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, pp. 120–125.
2. Caine, M. E., Lozano-Perez, T., and Seering, W. P., 1989, “Assembly Strategies for Chamferless Parts,” Proceedings of IEEE Conference on Robotics and Automation, pp. 472–477.
3. Cutkosky M. R. , and KaoI., 1989, “Computing and Controlling the Compliance of a Robotic Hand,” IEEE Transactions on Robotics and Automation, Vol. 5, pp. 151–165.
4. Drake, S. H., 1977, “Using Compliance in lieu of Sensory Feedback for Automatic Assembly,” S.D. Thesis, MIT, Cambridge, MA.
5. Gottschlich S. N. , and KakA., 1989, “A Dynamic Approach to High-Precision Parts Mating,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, pp. 797–810.
Cited by
6 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献