Dynamic analysis of assembly process with passive compliance for robot manipulators

Du, Ke-Lin; Zhang, Biao-Biao; Huang, Xinhan; Hu, Junbo

doi:10.1109/cira.2003.1222162

Cited by 14 publications

(17 citation statements)

References 6 publications

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“…Equation (2) illustrates that the joint has a clockwise rotation: ̇1 < 0 ; Otherwise, if 1 > 0 the joint has an anticlockwise rotation: ̇1 > 0. Therefore, the position of the shaft will deviate from the point where 1 = 0 .…”

Section: The External Force Points Toward the Centermentioning

confidence: 99%

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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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Section: The External Force Points Toward the Centermentioning

confidence: 99%

“…The passive compliance uses a flexible device like a rubber spring to link the end effector and gripper. The error will be compensated by the device's deformation [1][2][3]. However, the passive compliance device is not generally applicable and has to be redesigned according to different task configurations.…”

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 mechanical structure of the proposed docking mechanism is similar to that of RCC (Remote Center Compliance) [8]. The male connector of the robot's docking module and the female connector of the docking station in our design correspond to the peg and the hole in RCC, respectively.…”

Section: A Mechanical Structurementioning

confidence: 99%

Flexible docking mechanism using combination of magnetic force with error-compensation capability

Roh

Park

Song

et al. 2008

2008 IEEE International Conference on Automation Science and Engineering

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An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results. †

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“…This situation leads to jamming of the ring type parts on the shafts and to stoppages of the assembly processes (Pauli et al, 2001;Du et al, 2003;Xia et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Analyzing the jamming of parts on the shaft in assembly processes

Usubamatov

Adam

Harun

2012

Assembly Automation

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Users who downloaded this article also downloaded: (2012),"Assembly planning with automated retrieval of assembly sequences from CAD model information", Assembly Automation, Vol. 32 Iss 4 pp. 347-360 http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to investigate the process of jamming of the hollow parts on the shaft and to derive a mathematical model for jamming in an assembly process. Design/methodology/approach -The mathematical model for jamming of parts on the shaft in an assembly process is based on the sizes, geometry, angular declination of part and shaft axes, and the frictional factor. Findings -The equation for angular positional tolerance of coaxial parts and shafts, based on their geometry and sizes and leading to jamming, was derived. Research limitations/implications -A mathematical model of parts jamming on the shaft is developed for assembly mechanisms. This research does not consider flexible deformations of components in assembly mechanisms, which results in the axis concentricity of part and shaft in the assembly process. Practical implications -The results presented in the form of angular positional tolerance for coaxial parts and shafts based on their geometry and sizes make it possible to avoid the jamming of the parts. The results allow for formulating the angular positional tolerance of the assembly mechanisms that clamp the parts. Originality/value -The proposed method for calculating the angular positional tolerance of coaxial parts and shafts for the assembly process should allow for increasing the reliability of the assembly process in the manufacturing industry.

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Dynamic analysis of assembly process with passive compliance for robot manipulators

Cited by 14 publications

References 6 publications

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

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

Flexible docking mechanism using combination of magnetic force with error-compensation capability

Analyzing the jamming of parts on the shaft in assembly processes

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