Online modeling of environmental constraint region for complex-shaped parts assembly
Article publication date: 25 November 2022
Issue publication date: 6 December 2022
The paper aims to propose a method to build environmental constraint region online in complex-shaped peg-in-hole assembly tasks.
Compared with conventional way which using computer-aided design (CAD) models of assembly parts to construct the environmental constraint region offline, the paper provides an online approach that consists of three aspects: modeling assembly parts through visual recognition, decomposing complex shapes into multiple primitive convex shapes and a numerical algorithm to simulate the peg-in-hole insertion contact. Besides, a contrast experiment is performed to validate the feasibility and effectiveness of the method.
The experiment result indicates that online construction takes less time than the offline way under the same task conditions. Furthermore, due to the CAD models of the parts are not required to be known, the method proposed in the paper has a broader application in most assembly scenarios.
With the improvement of customization and complexity of manufactured parts, the assembly of complex-shaped parts has drawn greater attention of many researchers. The assembly methods based on attractive region in environment (ARIE) have shown great performance to achieve high-precision manipulation with low-precision systems. The construction of environmental constraint region serves as an essential part of ARIE-based theory, directly affect the formulation and application of assembly strategies.
This work was supported in part by the National Natural Science Foundation of China under Grant 91948303.
Gan, S., Liu, Y. and Chen, Z. (2022), "Online modeling of environmental constraint region for complex-shaped parts assembly", Assembly Automation, Vol. 42 No. 6, pp. 881-890. https://doi.org/10.1108/AA-07-2022-0180
Emerald Publishing Limited
Copyright © 2022, Emerald Publishing Limited