Strategy investigation of precise robotic assembly operations with symmetric regular polyhedral objects
Qiao,Hong; S.K. Tso
1998-07
发表期刊 Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture
卷号211期号:7页码:571-589
摘要

In this paper, a general strategy for the precise robotic assembly of symmetrical regular polyhedral objects is presented, according to the character of the objects being assembled. The assembly operations with force sensors included are discussed. The general strategy of the operations with force sensors included is first developed. The assembly operations without relying on force sensors are next analysed. This method can be generally used in industry for the precise assembly operations for symmetric regular polyhedral objects.

This paper covers the following items:

  1. An important problem demanding solution in the general robotic assembly operations with force sensors is presented.

  2. The general strategy investigation for the assembly operations with force sensors included is analysed.

  3. The mappings, firstly, between the directions of the contact forces and the location of the peg in the hole coordinate frame and, secondly, between the input forces and the actual movement of the peg in the hole coordinate frame are obtained.

  4. The general strategy investigation for the robotic assembly operations for symmetric regular polyhedral objects without using force sensors is designed on the basis of the mappings and the general principles in the strategy investigation.

  5. The experiments on the precise round and triangular peg—hole systems are presented to prove the validity of the general strategies designed.

  6. The strategy of assembly operations for other symmetric regular polyhedral objects without using force sensors is presented.

关键词
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12608
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Qiao,Hong
作者单位Centre for Intelligent Design, Automation and Manufacturing , City University of HongKong
推荐引用方式
GB/T 7714
Qiao,Hong,S.K. Tso. Strategy investigation of precise robotic assembly operations with symmetric regular polyhedral objects[J].  Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture,1998,211(7):571-589.
APA Qiao,Hong,&S.K. Tso.(1998).Strategy investigation of precise robotic assembly operations with symmetric regular polyhedral objects. Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture,211(7),571-589.
MLA Qiao,Hong,et al."Strategy investigation of precise robotic assembly operations with symmetric regular polyhedral objects". Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture 211.7(1998):571-589.
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