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A novel and practical strategy for the precise chamferless robotic peg hole insertion

Published online by Cambridge University Press:  09 March 2009

H. Qiao ,
B. S. Dalay  and
R. M. Parkin
H. Qiao
Affiliation:
Dept. of Mechanical and Manufacturing Engineering, De Montfort University, The Gateway, Leicester, LE19BH (UK)
B. S. Dalay
Affiliation:
Dept. of Mechanical and Manufacturing Engineering, De Montfort University, The Gateway, Leicester, LE19BH (UK)
R. M. Parkin
Affiliation:
Dept. of Mechanical and Manufacturing Engineering, De Montfort University, The Gateway, Leicester, LE19BH (UK)
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Summary

The influence of the angle between the axes of the peg and hole (angular error) and the contact surface defects on the measurement of deviation (lateral error) have been carefully analysed. It has been shown that they would influence the measurement of the magnitude of deviation and even its direction. This phenomenon causes severe difficulty in the assembly operations. A novel strategy for the high-precision chamferless peg hold insertion with a wrist force sensor is presented. This strategy is constructed: (1) to obtain the relationship between the peg and hole from the force sensor signal when an angle between the axes of the peg and hole exists and defects of the contact surfaces are present, (2) to reduce the angular and lateral errors, (3) to achieve the precise chamferless robotic peg hole insertion. In this paper, the insertion can be obtained with a reasonably large range of initial conditions. The principle is to move and rotate the peg from an area having many geometric uncertainties to a new area, where the deviation of the peg and hole can be obtained.

Keywords

RoboticsForce sensorDeviationAngular errorAssembly
Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995 , pp. 29 - 35
Copyright
Copyright © Cambridge University Press 1995

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