A passive compliant wrist for chamferless peg-in-hole assembly operation from vertical and horizontal directions

Abstract

This paper presents a chamferless vertical/horizontal remote centre compliance (CVHRCC) mechanism developed for robotic peg-in-hole assembly operations. The wrist adopts the passive accommodation approach and differs from other devices in its category in its ability to accommodate positional errors between the mating parts without a chamfer on either part. In addition, the wrist is designed to work from both the vertical and the horizontal directions. A series of experiments have been carried out for testing the new wrist. The main conclusion of the assembly experiments is that the CVHRCC can work effectively from the vertical direction in accommodating positional errors between chamferless mating parts with large clearance (over 0.2 mm) between the peg and hole.

Keywords

robotic assembly assembly strategy CVHRCC chamferless peg-in-hole vertical/horizontal direction

References

Lozano-Perez

Mason

M. T.

Taylor

R. H.

Automatic synthesis of fine-motion strategies for robots. In Robotic Research (Eds Brady Paul ), 1984.

Warnecke

Cho H. J.

Gweon

D. G.

Robotic assembly: A synthesizing overview. Robotica, 1987, 5, 153–165.

Whitney

D. E.

Nevins

J. L.

What is the RCC and what can it do? In Proceedings of 9th International Symposium on Industrial Robots, Washington, DC, 1979, pp. 135–152.

Van Brussel

Simons

Robot assembly by active force feedback accommodation. Ann. CIRP, 1979, 28, pp. 397–401.

Caine

M. E.

Lozano-Perez

Seering

W. P.

Assembly strategy for chamferless parts. In Proceedings of IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May 1989, pp. 472–477.

Caine

M. E.

Chamferless assembly of rectangular parts in two and three dimensions. MSc thesis, Massachusetts Institute of Technology, Cambridge, Massachusetts.

Inoue

Force feedback in assembly tasks. AI Memo-308, Artificial Intelligence Laboratory, MIT, 1974; reprinted in Artificial Intelligence: An MIT Perspective (Eds Winston

P. H.

Brown

R. H.

), 1979 (MIT Press, Cambridge, Massachusetts).

Cervera

del Pobil

A. P.

Unsupervised learning for error detection in task planning. Technical Report, Computer Science Department, Jaum I University, 1994.

Haskiya

Qiao

Knight

Pritchard

Peg- hole strategy and the domino effect theory. In Proceedings of 13th National Conference on Manufacturing Research, Glasgow, Scotland, September 1997, pp. 201–210.

10.

Haskiya

Qiao

Knight

A new strategy for chamferless peg-hole assembly. In Proceedings of IEEE International Symposium on Assembly and Task Planning, Marina del Rey, California, August 1997, pp. 90–95.