CASIA OpenIR  > 09年以前成果
A new strategy for chamferless peg-hole assembly
Haskiya, W (Haskiya, W); Qiao, H; Knight, JAG (Knight, JAG); Haskiya, W
1997
Conference Name1997 IEEE International Symposium on Assembly and Task Planning (ISATP 97) - Towards Flexible and Agile Assembly and Manufacturing
Source Publication1997 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP'97) - TOWARDS FLEXIBLE AND AGILE ASSEMBLY AND MANUFACTURING
Conference DateAUG 07-09, 1997
Conference PlaceMARINA DEL REY, CA
AbstractOne problem that arises during component assembly is that small error in relative position or angular position can produce large forces, These forces can prevent successful completion of the assembly (jamming) and can cause damage to the parts or the assembly machine/robot.

To overcome these problems, it's normal to use a Remote Centre Compliance (RCC) device. The limitation of the RCC is that it can only be used for top-down (vertical) assembly, and also the mating parts must have a chamfer to facilitate the assembly operation.

The approach presented here Is a new strategy for chamferless peg-hole assembly from X/Y/Z directions,

An investigation and a comparison between the vertical and horizontal assembly are presented followed by a simulation programme for testing the new strategy.

The major conclusion is that both assembly methods have same assembly conditions (as long as we take into consideration the gravitational force), and that the coefficient of friction has to be as small as possible.
KeywordNew Strategy Chamferless Peg-hole Assembly Vertical/horizontal Assembly Simulation Results
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12828
Collection09年以前成果
Corresponding AuthorHaskiya, W
Recommended Citation
GB/T 7714
Haskiya, W ,Qiao, H,Knight, JAG ,et al. A new strategy for chamferless peg-hole assembly[C],1997.
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