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Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism
Xing DP(邢登鹏); Liu, Fangfang; Xu, De
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
2021
IssuexxPages:xxxx
Abstract

This paper uses a multiple compliant degree-of-freedoms (DOFs) mechanism (i.e., a spring) to facilitate compliant insertion in precision assembly and proposes an efficient insertion strategy accordingly. The addition of a spring increases the insertion compliance while resulting in that the object is not directly controllable. The proposed strategy handles both vertical insertion and inclined insertion with an unknown posture according to force feedback. We investigate horizontal compliance when the spring is compressed or stretched and introduce the withdrawal process for exceptional situations by taking advantage of insertion compliance. The inclined insertion is a process of inserting while estimating the hole posture and a radial compensation strategy is presented not affecting the axial length of the spring. Efficient insertion planning is discussed in the presence of uncertainty caused by the spring for both insertion types. Experiments are carried out to demonstrate the validation of the proposed method.

Keywordmanipulation
Language英语
WOS IDWOS:000600967800034
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/41460
Collection精密感知与控制研究中心
Corresponding AuthorLiu, Fangfang
Recommended Citation
GB/T 7714
Xing DP,Liu, Fangfang,Xu, De. Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2021(xx):xxxx.
APA Xing DP,Liu, Fangfang,&Xu, De.(2021).Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS(xx),xxxx.
MLA Xing DP,et al."Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS .xx(2021):xxxx.
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