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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)
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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

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