Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-25T22:07:14.175Z Has data issue: false hasContentIssue false
  • English
  • Français

Assembly Strategies for Parts with a Plane of Symmetry

Published online by Cambridge University Press:  09 March 2009

N. A. Aspragathos
N. A. Aspragathos
Affiliation:
Mechanical Engineering Dept., University of Potras, 2 6000 Patras (Greece)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper describes the development of assembly strategies based on hybrid force/position control. The assembly strategies developed are confined to the large class of assembly tasks defined as a peg-in-the-hole assembly having a plane of symmetry passing through the axis of insertion.

The basic idea to develop a robotic system for programmable assembly is presented. This system can currently operate controlled manipulators with minor modifications, i.e. if a force/torque sensor and proper software for hybrid control are provided.

The principles of writing assembly strategies are analysed and examples of more complex assembly tasks than the classic round peg-in-the-hole are discussed in detail.

Keywords

Assembly strategiesPeg-in-the-holeForce-position control
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 189 - 195
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Lieberman, L. & Wesley, I. “AUTOPASS: An Automatic Programming System for Computer Controlled Mechanical Assembly” IBM J. Research and Development 21, No 4, 321–333 (1987).CrossRefGoogle Scholar
2.Popplestone, R.J., Ambler, A.P. & Bellos, I. “An Interpreter for a Language for Describing Assemblies” Artificial Intelligence 14, 79–100 (1980).CrossRefGoogle Scholar
3.Mason, M.T. “Compliance and Force Control for Computer Controlled Manipulators” IEEE Trans, on Systems, Man, and Cybernetics SMC-11, No 6, 418–432 (06, 1981).Google Scholar
4.Raibert, M.H. and Craig, J.J., “Hybrid Position/Force Control of Manipulators” Trans. ASME, J. Dynamic Syst. Meas., Contr. 102, 126–133 (06, 1981).Google Scholar
5.Lozano-Perez, T., Mason, M.T. & Taylor, R.H. “Automatic Synthesis of Fine-Motion Strategies for Robots” Int. J. Robotic Research 3, No 1, 3–24 (Spring, 1984).CrossRefGoogle Scholar
6.Merlet, J.-P., “C-surface Applied to the Design of an Hybrid Force-Position Robot Controller” IEEE Int. Conference on Robotic and Automation 1055–1059 (1987).Google Scholar
7.Lee, C.S.G. and Hou, E.S.H., “Automatic Generation and Synthesis of C-Frames for Mechanical Parts in an Insertion Task” IEEE J. Robotic and Automation 4, No 3, 287–293 (06, 1988).CrossRefGoogle Scholar
8.Strip, D.R., “Technology for Robotic Mechanical Assembly: Force-Directed Insertions”, AT&T Techn. 67, Issue 2, 23–34 (02/04, 1988).Google Scholar
9.Liu, Y., “A Sensor-Based Robot Planner for Assembly Tasks” Proceedings of AI '87, Japan, 571–584 (1987).Google Scholar
10.Haynes, L.S. & Morris, G.H., “A Formal Approach to Specifying Assembly Operations” Int. J. Machine Tools & Manufacturing 28, No 3, 281–298 (1988).CrossRefGoogle Scholar
11.Juan, J. and Paul, R.P., “Planning Automatic Assembly for Robots (PAAR)” SYROCO '85, Barcelona, Spain (1985) pp. 407–410.Google Scholar
12.Shariat, B., Coiffet, P. and Fournier, A., “A Strategy to Achieve an Assembly by Means of an Inaccurate, Flexible Robot” In: Computing Techniques for Robots (Ed., Aleksander, I.) (Kogan Page, London, 1984).Google Scholar
13.Hopkins, S.H., Bland, C.J. & Byrne, C.B., “A Toolbox of Assembly Strategies” Proc. 18th Int. Sym. on Ind. Robots 145–156 (1988).Google Scholar
14.Aspragathos, N.A., Hopkins, S.H., Morgan, C. & Bland, C.J. “The Development of a Micromanipulator Using Continuous Feedback Control for Automatic Assembly” VIth Int. Conf. on Systems Engineering, Coventry, 212–219 (13–15 09, 1988).Google Scholar
15.Byrne, C., “A Description of the Methodology for the Survey and Classification of Assembly Tasks” Technical Note ARC 23 UWIST, Cardiff (08, 1988).Google Scholar
16.Aspragathos, N.A., Hopkins, S.H. & Bland, C.J., “Assembly Strategies Based on Continuous Force/Motion Control” 19th ISATA, Monte Carlo, No. 88298 (24–28 10, 1988).Google Scholar
17.Khatib, O., “A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation”, IEEE J. Robotics and Automation RA-3, No 1, 43–53 (February, 1986).CrossRefGoogle Scholar