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Analysis of Impact in Robotic Peg-in-Hole Assembly

Published online by Cambridge University Press:  01 May 1998

Hsin-Te Liao  and
Ming C. Leu
Hsin-Te Liao
Affiliation:
Department of Mechanical Engineering, Ming-Hsin Institute of Technology, Hsin-Chu, Taiwan, ROC
Ming C. Leu
Affiliation:
Department of Mechanical Engineering, New Jersey Institute of Technology, Newark, New Jersey, 07102, USA
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Abstract

This paper presents an approach for analyzing the dynamics of initial impact during robotic parts mating represented by peg-in-hole assembly. Lagrange's impact model is used to derive a general form of impact equations for an industrial manipulator performing peg-in-hole assembly. Specific impact equations can then be generated for a given robot to analyze part motions and contact forces in the mating of parts. The impact equations of a SCARA robot are obtained and utilized to investigate how the system parameters affect force impulse and departure angle in the assembly of a peg with a chamfered hole. The resulting information is useful to robot manufacturers in design of robotic equipment and to robot users in determining optimal operational conditions. It is also useful for building an intelligent robot controller capable of deciding on proper values of operation parameters.

Keywords

ImpactPeg-in-Hole assemblyLagrange's modelSCARA robotIntelligent controller
Type
Research Article
Information
Robotica , Volume 16 , Issue 3 , May 1998 , pp. 347 - 356
Copyright
© 1998 Cambridge University Press

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