Analysis of impact in robotic peg-in-hole assembly

Document Type

Article

Publication Date

1-1-1998

Abstract

This paper presents an approach for analyzing the dynamics of initial impact during robotic parts mating represented by peg-in-hole assembly. Lagrange's impact model is used to derive a general form of impact equations for an industrial manipulator performing peg-in-hole assembly. Specific impact equations can then be generated for a given robot to analyze part motions and contact forces in the mating of parts. The impact equations of a SCARA robot are obtained and utilized to investigate how the system parameters affect force impulse and departure angle in the assembly of a peg with a chamfered hole. The resulting information is useful to robot manufacturers in design of robotic equipment and to robot users in determining optimal operational conditions. It is also useful for building an intelligent robot controller capable of deciding on proper values of operation parameters.

Identifier

0032069919 (Scopus)

Publication Title

Robotica

External Full Text Location

https://doi.org/10.1017/S026357479800040X

ISSN

02635747

First Page

347

Last Page

356

Issue

3

Volume

16

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