A compliant device for inserting a peg in a hole

McCallion, H.; Johnson, Gearold R.; Pham, Dung Tien

doi:10.1108/eb004754

Cited by 38 publications

(14 citation statements)

References 3 publications

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“…Today there are applications in manufacturing, telescopes, and other fields (McCallion et al, 1979;Schnur and Stenvers, 1988). Main advantages are low structure weight, very high rigidity, and very high accuracy in positioning.…”

Section: State Of the Artmentioning

confidence: 99%

Advances in Robot Kinematics: Analysis and Control

Lenarčič¹,

Husty²

1998

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Section: State Of the Artmentioning

confidence: 99%

Advances in Robot Kinematics: Analysis and Control

Lenarčič¹,

Husty²

1998

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“…Even though AcroFlex provides for a decent range of motion preservation, its entire kinematic motion profile has not been studied, and its long-term kinematic effect is unknown, as it has yielded poor clinical results, due to mechanical failure of its polyolefin core, caused by material fatigue [22][23][24]. Mechanical wear of artificial discs is common, due to the relative motion between implant surfaces that causes high friction [22]; wear debris is known to cause inflammation [8].…”

Section: Introductionmentioning

confidence: 99%

“…This paper presents a novel concept for an unconstrained artificial disc consisting of a passive parallel compliant mechanism that preserves the natural motion, while allowing for customization of the device and minimization of mechanical wear. Although compliant parallel mechanisms are already widely used [23][24][25][26], works regarding parallel mechanism stiffness synthesis have focused on avoiding singularities, reaching desired stiffness indices and enhancing the overall mechanism stiffness [27][28][29][30][31][32][33][34]. As none of those methods fit the natural motion preservation design goal, an alternative design routine is developed in this paper.…”

Section: Introductionmentioning

confidence: 99%

Compliant Mechanism as a Motion-Preserving Artificial Spinal Disc: A Novel Concept

David

Shoham

2020

Journal of Engineering and Science in Medical Diagnostics and Therapy

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Investigations of spinal disc replacement options have been conducted for several decades but, as yet, the suggested solutions have not been proven to correctly preserve the natural joint motion. This paper focuses on a new structure of an artificial intervertebral disc joint that closely supports a close-to-natural three-dimensional motion of two adjacent vertebrae. The disc design is based on a passive parallel mechanism, with different stiffnesses for each link. Optimization of the artificial disc dimensions and link stiffnesses enabled convergence of the finite screw axis (FSA) of the artificial disc joint with that of a natural disc. As a result, the natural motion of the spine vertebrae was maintained and the loads on the facet joints minimized. The mechanism design was optimized, built, tested, and proven to be a feasible artificial disc with natural motion preservation characteristics.

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“…To solve the problem of force control by reducing the burden of machines and controllers, Drake et al (1977), Watson (1978), McCallion et al (1979), Whitney and Nevins (1979), Whitney and Rourke (1986), and Asada and Kakumoto (1988) suggested some compliance assembly methods and developed many passively compliant devices. A passively compliant device has an elastic mechanism deformed by the insertion force during the insertion process to absorb misalignments compliantly.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Levitation Servo for Flexible Assembly Automation

Tsuda

Higuchi

Fujiwara

1992

The International Journal of Robotics Research

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Active magnetic levitation with servo control has the inherent potential to be a friction-free, backlash-free, lubrication-free, and precision multi-degree-of-freedom (DOF) actuator with the capability of multi-axis force sensing. However, magnetic levitation has been conventionally used only for contactless suspension such as magnetic bearings and magnetically levitated vehicles. This article develops an application of magnetic levitation for actuation and force sensing and calls such a system magnetic levitation servo to distinguish from conventional suspension-only systems.On the other hand, flexible assembly automation is a technical and engineering challenge to be accomplished promptly. For this purpose, the authors have developed a Magnetically end-effector-levitating Instrument for a Skilled-Taskundertaking Expert Robot (MEISTER) by applying magnetic levitation servo.The MEISTER is located between a wrist and an end effector in a manipulator to levitate and control the end effector by magnetic forces without any mechanical contact. This frictionfree and backlash-free mechanism enables precision control of multi-DOFs and permits the MEISTER to have three versatilely functional properties: (1) programmable compliance: the compliance and viscous damping of supporting an end effector are magnetically changeable by software; (2) precision multi-DOF actuation: the position and attitude of an end effector can be accurately controlled without friction or backlash by changing magnetic forces; and (3) multi-axis force sensing: external forces and moments acting on an end effector can be computed by the MEISTER without any additional sensory equipments from the force equivalent equation. By using these functional properties, the MEISTER can correct a minute misalignment between a couple of mating parts to automate precision insertion.To investigate the fundamental performance of the MEISTER in experiments, a prototype of a 5-DOF controllable MEISTER is developed. The experiments have shown the following results :1. The MEISTER can be used as an advanced/active Remote Center Compliance (RCC) device. 2. The prototype can quickly position the 5-DOF of a mating part with 1-μm resolution. 3. It can measure a five-axis resultant force acting on a part with a resolution of about 0.04N and 0.001 N m. 4. It can successfully perform the RCC assembly method, the ideal RCC method, and the float method in precision insertion operations with the clearance ratio of 0.0004 (where a workpiece has a 20-mm diameter and the clearance is 8 μm.)

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A compliant device for inserting a peg in a hole

Cited by 38 publications

References 3 publications

Advances in Robot Kinematics: Analysis and Control

Advances in Robot Kinematics: Analysis and Control

Compliant Mechanism as a Motion-Preserving Artificial Spinal Disc: A Novel Concept

Magnetic Levitation Servo for Flexible Assembly Automation

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