Title

Analysis of Impact in Robotic Peg-In-Hole Assembly

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.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Impact; Peg-In-Hole Assembly; Lagrange's Model; SCARA Robot; Intelligent Controller

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1998 Cambridge University Press, All rights reserved.


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