Robotic Assembly by Slight Random Movements

In this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System...

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Bibliographic Details
Published in:Robotica 1991-01, Vol.9 (1), p.23-29
Main Authors: Badano, F., Betemps, M., Redarce, T., Jutard, A.
Format: Article
Language:English
Subjects:
Applied sciences
assembling
Chamferless insertion
Exact sciences and technology
Material handling, hoisting. Storage. Packaging
position control
Positioning error
Random movement
Robotic assembly
robots
Transfert equipment, manipulators
industrial robots
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Summary:In this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System is fitted to the work table; when its inputs are pseudo-random binary signais (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574700015538