Analyzing the jamming of parts on the shaft in assembly processes

Usubamatov, Ryspek; Adam, S. A.; Harun, A.

doi:10.1108/01445151211262401

Cited by 10 publications

(7 citation statements)

References 12 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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“…To characterize the deviation from the rigid-body condition, the differences L defined in (1) were calculated using averaged positions { ̅ } in the perception system frame. The histograms of the differences for datasets A1 and A2 were similar, and the histogram for dataset A2 is shown in Figure 4; the corresponding standard deviations were also determined.…”

Section: Processing Ur5 Datamentioning

confidence: 99%

“…Different manufacturing tasks performed by autonomous systems require accurate transformation between the coordinate frames of the vision system and the robot. An inaccurate transformation causes misalignment between parts, which negatively impacts the performance of assembly tasks [1]. The same is also true for other tasks, such as automated drilling [2] or welding [3], where accurate positioning is critical.…”

Section: Introductionmentioning

confidence: 99%

Improving 3D vision-robot registration for assembly tasks

Franaszek¹,

Cheok²,

Wyk³

et al. 2020

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Good registration between the coordinate frames of a perception system and a robot is important for the efficient operation of autonomous systems in vision-guided assembly lines. Rigid-body registration, which is based on the measurement of corresponding points (fiducials) in both frames, is a commonly used method. Noise and possible bias in the measured points degrade the quality of registration as gauged by the Target Registration Error (TRE). A method to restore the rigid body condition (RRBC) was recently developed to reduce TRE when the bias is larger than the noise. This was achieved by applying corrections to target locations in the vision sensor frame. This paper presents two procedures to improve the performance of the RRBC method by: 1) selecting the location of fiducials used for calculating correction to the target location and 2) selecting the correct arm configuration for fiducial from multiple configurations as calculated by inverse kinematics. Experiments performed with a motion tracking system and two different robot arms show that these two procedures can further reduce the Root Mean Square of TRE (RMST) to less than 20 % of the uncorrected RMST.

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“…Some studies use the contact-model to avoid collisions and reduce jamming. Usubamatov proposed a jamming reduced method through the mathematical model analysis of peg-in-hole assembly [12,13]. Liu analyzed point contact and face contact situation of the peg-in-hole assembly and proposed screw insertion strategies to reduce friction [14].…”

Section: Introductionmentioning

confidence: 99%

Robotic Assembly for Irregular Shaped Peg-in-Hole with Partial Constraints

Cheng

Li³

et al. 2021

Applied Sciences

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The tight tolerance peg-in-hole process brings great challenges for robotic assembly. Force control-based methods have been proposed to generate complex compliant behavior to deal with the shape and clearance variances. However, existing solutions are based on the assumption that the peg and hole parts are fixed during the assembly process and can absorb the contact force completely. For this purpose, customized fixtures have to be designed and utilized, which greatly affect the system’s deployment cost, time, and flexibility. Considering the fact that in an assembly, the parts are naturally related to each other, this paper studies the irregular-shaped peg-in-hole assembly problem with partial constraints. Firstly, geometric and force model are developed for the natural constraints between the parts; by analyzing the behavior of the partial constraint, a control policy is proposed to compensate the position errors and drive the parts to a stable equilibrium point; For the irregular-shaped parts, a multiple-stage searching method is developed to efficiently search for the real hole location; Finally, a switching force/position hybrid controller is designed to coordinate the alignment, searching and insertion processes. The method is implemented in a real platform. The experiment results verify the effectiveness of the proposed methods.

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Analyzing the jamming of parts on the shaft in assembly processes

Cited by 10 publications

References 12 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

Improving 3D vision-robot registration for assembly tasks

Robotic Assembly for Irregular Shaped Peg-in-Hole with Partial Constraints

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