Document Type
Thesis
Date of Award
1-31-1990
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical and Industrial Engineering
First Advisor
M. C. Leu
Second Advisor
Avraham Harnoy
Third Advisor
Rajesh N. Dave
Abstract
A mathematical model of robotic peg-in-hole insertion, which relates insertion force and moment to manipulator compliance and geometric constraints, is presented. Based on this model, the effects of manipulator compliance and geometric and positional parameters on the insertion are studied. The complete expressions for determining the insertion forces and moment as well as the peg kinematics are derived. The study is helpful to reducing insertion force and moment and avoiding possible jamming during the insertion process. The model is verified experimentally on the IBM 7540 robot.
Recommended Citation
Jia, Yilun, "Analytical and experimental study of robotic peg-in-hole insertion" (1990). Theses. 2763.
https://digitalcommons.njit.edu/theses/2763
