Title

Modeling and Analysis of Parts Mating in Vibration Assisted Compliant Assembly

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.

Meeting Name

3rd ASME Conference on Flexible Assembly Systems presented at the 1991 ASME Design Technical Conferences

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Assembly Machines; Computers -Applications; Mathematical Models; Vibrations

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1991 American Society of Mechanical Engineers (ASME), All rights reserved.

This document is currently not available here.

Share

 
COinS