CASIA OpenIR
Efficient Insertion of Partially Flexible Objects in Precision Assembly
Xing, Dengpeng1,2; Liu, Fangfang1,2; Liu, Song3; Xu, De1,2
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN1545-5955
2019-04-01
Volume16Issue:2Pages:706-715
Corresponding AuthorXing, Dengpeng(dengpeng.xing@ia.ac.cn)
AbstractThis paper proposes an efficient strategy for the insertion of the partially flexible object in precision assembly. The partially flexible object refers to the component with unevenly distributed flexibilities: coupling rigidity and flexibility. This paper focuses on the insertion of one class of partially flexible objects: rigid shapes connected by a compliant mechanism. We first analyze the horizontal compliance of the compliant mechanism and build a model to relate its state and force. The insertion is separated into two stages according to the insertion type. The first stage is a compliant insertion and we estimate the insertion direction based on the built model, horizontally compensate resorting to the horizontal compliance and the updated direction, and efficiently plan the vertical insertion in an aggressive strategy regarding the uncertainties caused by the compliant mechanism and predicting the future insertion. The second stage is a hybrid insertion with both rigid and compliant gripping and its features include that the object states are not precisely measurable and the motion of a part of the object is not directly controllable. To solve it, we qualitatively and quantitatively analyze all possible configurations and, taking advantage of the insertion property, conclude one insertion posture based on which a control strategy is proposed. Additionally, a conservative insertion strategy is planned resorting to the past execution performance and the current state evaluation. Experiments are carried out to demonstrate the validation of the proposed method. Note to Practitioners-This paper was motivated by the problem of inserting partially flexible objects in precision assembly, but it also applies to other components with unevenly distributed flexibilities. This approach has benefits in terms of assembling rigid-compliant-rigid sets of the objects and modeling the behavior of many similar objects. The following key steps are mentioned to apply the proposed method. The practitioners need to first compute the insertion compliance based on the model that is built in this paper to relate the deformation and force. The determination of the object configuration in hybrid insertion is then demanded considering the system compliance. The final steps are to obtain the object states according to the force output and efficiently plan the insertion depths considering the past performance, the current evaluation, and the future prediction. In future research, we will address the simultaneous assembly of multiple partially flexible objects.
KeywordEfficient insertion partially flexible object precision assembly
DOI10.1109/TASE.2018.2853607
WOS KeywordCOMPLIANT ; MANIPULATION ; DESIGN ; PARTS
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[61741317] ; National Nature Science Foundation of China[61733004]
Funding OrganizationScience Challenge Project ; National Nature Science Foundation of China
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000473648800016
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26895
Collection中国科学院自动化研究所
Corresponding AuthorXing, Dengpeng
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 101407, Peoples R China
3.City Univ Hong Kong, Hong Kong, Peoples R China
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,Liu, Fangfang,Liu, Song,et al. Efficient Insertion of Partially Flexible Objects in Precision Assembly[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2019,16(2):706-715.
APA Xing, Dengpeng,Liu, Fangfang,Liu, Song,&Xu, De.(2019).Efficient Insertion of Partially Flexible Objects in Precision Assembly.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,16(2),706-715.
MLA Xing, Dengpeng,et al."Efficient Insertion of Partially Flexible Objects in Precision Assembly".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 16.2(2019):706-715.
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