Analysis of Impact in Robotic Peg-In-Hole Assembly
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.
H. Liao and M. Leu, "Analysis of Impact in Robotic Peg-In-Hole Assembly," Robotica, Cambridge University Press, Jan 1998.
The definitive version is available at http://dx.doi.org/10.1017/S026357479800040X
Mechanical and Aerospace Engineering
Keywords and Phrases
Impact; Peg-In-Hole Assembly; Lagrange's Model; SCARA Robot; Intelligent Controller
Article - Journal
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