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Robot assembly theory and simulation of circular-rectangular compound peg-in-hole

Published online by Cambridge University Press:  01 April 2022

Weiguo Wu ,
Kexin Liu Open the ORCID record for Kexin Liu [Opens in a new window]  and
Tong Wang
Weiguo Wu*
Affiliation:
Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China
Kexin Liu
Affiliation:
Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China
Tong Wang
Affiliation:
Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China
*
*Corresponding author. E-mail: [email protected]
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Abstract

In this paper, the assembly problem of circular-rectangular compound peg and hole parts in automatic assembly is proposed for the first time, and an automatic assembly method based on six-dimensional force sensor is summarized. Firstly, according to the quasi-static equilibrium condition, the contact states are summarized. It is concluded that there are 7 categories of 44 contact states in insertion stage and the forces conditions to maintain each contact state; Secondly, according to the analysis of the force/moment relationship, the jamming diagram is drawn, and the conditions of jamming are analyzed. Thirdly, the assembly strategy is discussed, including contact state recognition strategy, hole searching strategy, and pose adjustment strategy. Finally, combined with impedance control, the assembly theory is verified in ADAMS, and the assembly with minimum clearance of 0.1 mm is achieved.

Keywords

circular-rectangular compound peg and hole partsautomatic peg-in-hole assemblycontact statejamming analysisassembly strategy
Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3306 - 3339
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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