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Force control for a rigid dual peg-in-hole assembly

Kuangen Zhang (State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China)
MinHui Shi (Department of Aerospace Engineering, Shanghai Jiaotong University, Shanghai, China and School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, China)
Jing Xu (State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Feng Liu (Airforce Armaments Academy, Beijing, China)
Ken Chen (State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 3 April 2017

Abstract

Purpose

This paper aims to realize the automatic assembly process for multiple rigid peg-in-hole components.

Design/methodology/approach

This paper develops fuzzy force control strategies for the rigid dual peg-in-hole assembly. Firstly the fuzzy force control strategies are presented. Secondly the contact states and contact forces are analyzed to prove the availability of the force control strategies.

Findings

The rigid dual peg-in-hole assembly experimental results show the effectiveness of the control strategies.

Originality/value

This paper proposes fuzzy force control strategies for a rigid dual peg-in-hole assembly task.

Keywords

Acknowledgements

The work is partially supported by National Science Foundation of China (No. 51675291, No. U1613205) and the Fund of State Key Laboratory of Tribology of China (No. SKLT2015B10).

Citation

Zhang, K., Shi, M., Xu, J., Liu, F. and Chen, K. (2017), "Force control for a rigid dual peg-in-hole assembly", Assembly Automation, Vol. 37 No. 2, pp. 200-207. https://doi.org/10.1108/AA-09-2016-120

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited