CASIA OpenIR
Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly
Xing, Dengpeng1; Lv, Yan2; Liu, Song3; Xu, De1; Liu, Fangfang1
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2019-09-01
Volume15Issue:9Pages:4878-4887
Corresponding AuthorLiu, Fangfang(fangfang.liu@ia.ac.cn)
AbstractThis paper proposes an efficient strategy to simultaneously insert multiple objects, which are parallel connected by passive compliant mechanisms, in precision assembly. The distinctions of this task include: each object is held compliantly; multiple objects are parallel connected to a manipulator; not all the peg-in-hole has the same insertion condition; and high accuracy is required for each insertion. This configuration can provide sufficient compliance and improve insertion efficiency for massive precision assembly. We model the relationship between the state and force of a single compliant mechanism, and analyze the horizontal compliance of parallel mechanisms. Based on the model, with a fitting and optimization method the states of all but one compliant mechanisms are acquired from microscopic views and the remaining states are optimized with resultant forces provided by a force sensor. To efficiently plan the parallel insertion, we propose a strategy to horizontally compensate according to the resultant force and the horizontal compliance, and to vertically insert based on the insertion ratio expectation, the horizontal offsets of each individual insertion, and the horizontal force. Experiments are carried out to demonstrate the validation of the proposed method.
KeywordEfficient insertion parallel connection passive compliance precision assembly
DOI10.1109/TII.2019.2897731
WOS KeywordGRIPPER
Indexed BySCI
Language英语
Funding ProjectScience Challenge Project[TZ2018006-0204-02] ; National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61873266] ; National Nature Science Foundation of China[61733004] ; National Nature Science Foundation of China[TII-18-0673]
Funding OrganizationScience Challenge Project ; National Nature Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000489584600004
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26613
Collection中国科学院自动化研究所
Corresponding AuthorLiu, Fangfang
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100195, Peoples R China
2.Zhejiang A&F Univ, Sch Engn, Hangzhou 311300, Zhejiang, Peoples R China
3.Univ Southern Calif, Dept Elect Engn Electrophys, Los Angeles, CA 90089 USA
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xing, Dengpeng,Lv, Yan,Liu, Song,et al. Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2019,15(9):4878-4887.
APA Xing, Dengpeng,Lv, Yan,Liu, Song,Xu, De,&Liu, Fangfang.(2019).Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,15(9),4878-4887.
MLA Xing, Dengpeng,et al."Efficient Insertion of Multiple Objects Parallel Connected by Passive Compliant Mechanisms in Precision Assembly".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 15.9(2019):4878-4887.
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