Dynamic analysis of vibratory insertion process

Kilikevičius, Sigitas; Bakšys, B.

doi:10.1108/01445151111150613

Cited by 18 publications

(13 citation statements)

References 11 publications

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“…They used searched trajectory generation to acquire correct peg posture without feedback. Kilikevicius (Kilikevicius and Baksys, 2011) investigated the process of compliantly supported peg insertion into a bush. 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.…”

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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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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“…The original RCC device consists of flexible mechanical components that deform slightly under load and thus can passively compensate for small initial lateral and angular errors [17]. An RCC device contains two parallel platforms connected by compliant shear pads.…”

Section: Introductionmentioning

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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“…The new approach of the peg-in-hole insertion based on the vibratory excitation has been presented in the paper Kilikevicius and Baksys (2011). The process of the compliantly supported peg insertion into the chamfered hole for the high-speed assembly as the vibrations provided for the bush in the axial direction has been investigated.…”

Section: Introductionmentioning

confidence: 99%

The vibratory alignment of the parts in robotic assembly

Bakšys

Baskutienė

Baskutis

2017

Self Cite

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Purpose This paper aims to consider the experimental and theoretical investigation of the vibratory alignment of the peg-hole, when the peg is fixed in the remote centre compliance (RCC) device, and the vibrations are provided either to the hole or to the peg. Design/methodology/approach The experimental analysis of the circular and rectangular peg-hole vibratory alignment using the attached to the robot arm RCC device, under vibratory excitation of the hole, has been performed. The parameters of the vibratory excitation and the part-to-part pressing force influence on the alignment process have been analysed. The mathematical approach of the vibratory alignment using the passive compliance device with the vibrations provided to the peg has been proposed, and the simulation has been carried out. Findings The research has approved the applicability of the RCC device for both of the vibratory alignments of the non-chamfered peg-hole parts either circular or rectangular ones. The compensation of the axial misalignments has been resulted by the directional displacement of the peg supported compliantly. To perform the successful alignment of the parts, it has been necessary to adjust the frequency and the amplitude of the vibrations, the pressing force, the lateral, as well as the angular stiffness of the device. Research limitations/implications The experiments on the vibratory alignment of the rectangular peg-hole parts have been carried out considering only the translational misalignment moved into one direction. The non-impact regime of the vibratory alignment has been analysed. Practical implications The obtained results can be applied in designing the reliable and efficient devices of the vibratory assembly for the alignment of the non-chamfered peg-hole parts, as well as for chamfered ones, if the axial misalignment exceeds the width of the chamfer. The vibratory technique and passive compliance provide possibility to accomplish the assembly operations using the non-expensive low accuracy robots. Originality/value The new method and the mathematical approach of the vibratory assembly using the RCC device can ensure the reliable alignment of the non-chamfered parts, chamfered circular and the rectangular ones, in case the axial misalignment exceeds the assembly clearance, and prevent jamming and wedging.

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Dynamic analysis of vibratory insertion process

Cited by 18 publications

References 11 publications

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

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

Peg–hole disassembly using active compliance

The vibratory alignment of the parts in robotic assembly

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