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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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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creator Badano, F.
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Redarce, T.
Jutard, A.
description 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.
doi_str_mv 10.1017/S0263574700015538
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source Cambridge University Press:JISC Collections:Full Collection Digital Archives (STM and HSS) (218 titles)
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
title Robotic Assembly by Slight Random Movements
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