Modeling and analysis of parts mating in vibration assisted compliant assembly

Document Type

Conference Proceeding

Publication Date

12-1-1991

Abstract

This paper presents the theoretical modeling and parameter analysis of vibration assisted robotic assembly involving peg-in-hole insertion. Transitions among various mating configurations during the vibration assisted insertion are studied. Mating forces and insertion motions are analyzed and numerically simulated. Insertion failure is classified into several types, with the characteristic of each type studied. The types of insertion failure include jamming due to insufficient assembly forces, jamming due to robot deflection, jamming due to assembly geometry restriction, wedging due to compression forces, and peg sliding opposite to the insertion direction. Experiments are performed, where vibration is applied to the hole piece when a SCARA robot is performing peg-in-hole insertion, to verify the analytical results.

Identifier

0026381559 (Scopus)

ISBN

[0791807495]

Publication Title

American Society of Mechanical Engineers Design Engineering Division Publication DE

First Page

9

Last Page

20

Volume

33

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