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Robotic assembly for tight tolerant cascaded peg-in-hole process with incomplete constraints

Hongtai Cheng (Northeastern University, Shenyang, China)
Tianzhuo Liu (School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China)
Wei Zhang (Northeastern University, Shenyang, China)
Lina Hao (Northeastern University, Shenyang, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 6 August 2020

Issue publication date: 15 September 2020

306

Abstract

Purpose

Installing a tight tolerant stepped shaft is not a trivial task for an industrial robot. If all peg-hole constraints are complete, the cascaded peg-in-hole task can be simplified into several independent stages and accomplished one by one. However, if some of the constraints are incomplete, the cross stage interference will bring additional difficulties. This paper aims to discuss the cascaded peg-in-hole problem with incomplete constraints.

Design/methodology/approach

In this paper, the problem is formulated according to geometric parameters of the stepped shaft and completeness of the corresponding hole. The possible jamming type is modeled and analyzed. A contact modeling and control strategy is proposed to compensate the peg postures under incomplete constraints.

Findings

The above methods are implemented on an experiment platform and the results verify the effectiveness of the proposed robotic assembly strategy.

Originality/value

Based on force/torque sensor, a hybrid control strategy for incomplete constraints cascaded peg-in-hole assembly problem is proposed.

Keywords

Citation

Cheng, H., Liu, T., Zhang, W. and Hao, L. (2020), "Robotic assembly for tight tolerant cascaded peg-in-hole process with incomplete constraints", Assembly Automation, Vol. 40 No. 5, pp. 769-778. https://doi.org/10.1108/AA-09-2019-0167

Publisher

:

Emerald Publishing Limited

Copyright © 2020, Emerald Publishing Limited

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