Compliant peg-in-hole assembly for nonconvex axisymmetric components based on attractive region in environment | |
Liu Y(刘洋)2; Chen ZY(陈紫渝)1; Qiao H(乔红)1; Gan S(甘帅)2 | |
刊名 | Robotica
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2023 | |
卷号 | 41期号:8页码:2314 - 2336 |
关键词 | automation motion planning nonconvex axisymmetric parts high-precision peg-in-hole assembly constraint region analysis attractive region in environment |
英文摘要 | With the development of intelligent manufacturing, more and more nonstandard parts are used in high-precision assembly. The robotic assembly method based on attractive region in environment (ARIE) has been proven to have good performance in the high-precision assembly under the limitation of robot system accuracy or sensing accuracy. However, for the assembly of nonstandard parts, especially nonconvex parts, the existing ARIE-based strategy lacks a targeted design. In the assembly process, the nonconvex structure may cause blocking problems, which will lead to assembly failure when using the strategy. In order to solve this problem, this paper proposes a new assembly method by using the geometric features of constraint region based on the concept of ARIE. Specifically, first, when using the ARIE-based classic strategy, the reasons for the possible blocking problem in the assembly of a class of nonconvex axisymmetric parts are analyzed in detail. Second, a multi-step sliding strategy is proposed based on the theory of ARIE to solve the possible blocking problem in the assembly process. Third, impedance control is used to enable the peg to achieve the desired compliant motion in the proposed strategy. The improvement in the success rate of the proposed method is verified by the comparison experiment of small clearance peg-in-hole assembly, where the structure of the peg is nonconvex and axisymmetric. |
URL标识 | 查看原文 |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/57217] ![]() |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
通讯作者 | Qiao H(乔红) |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, China 2.School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China |
推荐引用方式 GB/T 7714 | Liu Y,Chen ZY,Qiao H,et al. Compliant peg-in-hole assembly for nonconvex axisymmetric components based on attractive region in environment[J]. Robotica,2023,41(8):2314 - 2336. |
APA | Liu Y,Chen ZY,Qiao H,&Gan S.(2023).Compliant peg-in-hole assembly for nonconvex axisymmetric components based on attractive region in environment.Robotica,41(8),2314 - 2336. |
MLA | Liu Y,et al."Compliant peg-in-hole assembly for nonconvex axisymmetric components based on attractive region in environment".Robotica 41.8(2023):2314 - 2336. |
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