Analyses of peg‐hole jamming in automatic assembly machines

Usubamatov, Ryspek; Leong, K.W.

doi:10.1108/01445151111172943

Cited by 33 publications

(21 citation statements)

References 3 publications

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“…The contact models based on force guidance were introduced in [ 21 ]. In [ 22 , 23 , 24 , 25 ], some researchers focused on the avoidance of jamming and wedging to obtain the assembly conditions. Recently, some researchers focused on the peg-in-hole assembly by using a dual-arm robot due to the human-like coordinated operation [ 26 , 27 , 28 , 29 , 30 ].…”

Section: Introductionmentioning

confidence: 99%

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Zhang

Zheng

Ota

et al. 2017

Sensors

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This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.

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Section: Introductionmentioning

confidence: 99%

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Zhang

Zheng

Ota

et al. 2017

Sensors

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“…Jamming and wedging are well-known problems in peg-hole assembly [28]. Jamming is a condition in which the peg is not able to move due to improperly applied forces and moments.…”

Section: Typical Contact States During Disassemblymentioning

confidence: 99%

Peg–hole disassembly using active compliance

et al. 2019

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When considered in two-dimensional space, a cylindrical peg being withdrawn from a clearance-fit hole can exhibit one of four contact states: no contact, one-point contact, two-point contact and line contact. Jamming and wedging can occur during the two-point contact. Effective control of the two-point contact region can significantly reduce resistance in peg–hole disassembly. In this paper, we explore generic peg–hole disassembly processes with compliance and identify the effects of key parameters including the degree of compliance, the location of the compliance centre and initial position errors. A quasi-static analysis of peg–hole disassembly has been performed to obtain the boundary conditions of the two-point contact region. The effects of key variables on the two-point contact region have been simulated. Finally, peg–hole disassemblies with different locations of compliance centre achieved using active compliance have been experimentally investigated. The proposed theoretical model can be implemented to predict the range and position of the two-point contact region from the perspective of peg–hole disassembly.

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“…In their assembly system, vibratory excitation provided to the bush in the axial direction allowed preventing the balance between the insertion force and frictional forces. Usubamatov (Usubamatov and Leong, 2011) developed a mathematical model for rigid parts with a hole and for the peg clamped in the rigid assembly mechanisms, where the critical angles of the peg's declination and critical depth of the peg's insertion into the hole had also been calculated. In Qiao's work (Qiao et al, 1996(Qiao et al, , 2002Qiao and Tso, 1998), the insertion strategies for the round and for the triangular peg-hole systems without force sensors had been proposed.…”

Section: Related Workmentioning

confidence: 99%

Sensor‐less insertion strategy for an eccentric peg in a hole of the crankshaft and bearing assembly

Qiao

et al. 2012

Assembly Automation

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Purpose-The purpose of this paper is to give a novel sensor-less manipulation strategy for the high-precision assembly of an eccentric peg into a hole. Design/methodology/approach-Based on the authors' previous work on the attractive region, this paper proposes the sensorless eccentric peghole insertion strategy. The analysis is based on the visible strategic behaviors by decomposing the high-dimensional configuration space of the eccentric peg-hole into two low dimensional configuration subspaces. Then, the robotic manipulations can be designed in the configuration subspaces. Finally, a typical industry application, fitting an eccentric crankshaft into a bearing hole of the automotive air-conditioners, is used to validate the presented strategy. Findings-The attractive region constructed in the configuration space has been applied to guide the robotic manipulations, such as, the locating and the insertion. Practical implications-The designed robotic assembly system without using force sensor or flexible wrist has an advantage in terms of expense and durability for the automotive air-conditioners manufacturing industry. Originality/value-Most previous work on sensorless manipulation strategy has concentrated on inserting a symmetric peg into a hole. However, for the assembly of an eccentric peg into a hole, the robotic manipulations should be explored in a high-dimensional configuration space as the six-DOFs of the eccentric peg. In this paper, the decomposition method of the high-dimensional configuration space would make the system analysis visible; then, the assembly strategy can be easily designed in the two subspaces.

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Analyses of peg‐hole jamming in automatic assembly machines

Cited by 33 publications

References 3 publications

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Peg–hole disassembly using active compliance

Sensor‐less insertion strategy for an eccentric peg in a hole of the crankshaft and bearing assembly

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