A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers
Qiao,Hong; Philip Moore; Jeff Knight
1996-11
发表期刊Robotica
卷号14期号:06页码:647-658
摘要
Robotic peg-hole insertion operations can play a very important role in manufacturing industry because it is a common requirement in the manufacturing process and, it requires high precision and high speed. In general, this operation can be divided into two processes: Search process to engage the peg and the hole and, insertion process. The search process is critical in the assembly operation. It can be defined as a process where the angular and the translational errors between the peg and the hole are reduced until insertion can occur. In this paper, a theoretic model of the search process without a chamfer has been presented. The aim of study was to identify the basic relationships betwen the inputs to the peg-hole system, the movement of the peg and the contact forces between the peg and the hole. Additionally, an equivalent model has been established. From this study, a simple new search strategy has been developed and proven in simulations and experiments.
 

关键词Robotic Assembly Peg-hole System Chamferless Modelling
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12609
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Department of Mechanical and Manufacture Engineering, School of Engineering and Manufacture,De Montfort University
推荐引用方式
GB/T 7714
Qiao,Hong,Philip Moore,Jeff Knight. A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers[J]. Robotica,1996,14(06):647-658.
APA Qiao,Hong,Philip Moore,&Jeff Knight.(1996).A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers.Robotica,14(06),647-658.
MLA Qiao,Hong,et al."A model and strategy analysis of the peg-hole system in the search process associated with robotic assembly operations without chamfers".Robotica 14.06(1996):647-658.
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