Title :
Dynamic analysis of assembly process with passive compliance for robot manipulators
Author :
Du, K.-L. ; Zhang, Biao-Biao ; Huang, Xinhan ; Hu, Jianyuan
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
Assembly automation has become a research highlight for years. Dynamics of the most fundamental peg-in-hole mating, which represents an important topic of future research, is, however, far from being resolved. To this end, the overall part-mating dynamics has been developed, and simulations have been implemented. The sensitivity analysis of each parameter on the assembly process has been made. The dynamic properties of assembly with the RCC have been concluded, which helps to implement active control. By selecting proper parameters of the dynamic remote center compliance, one can optimize assembly proceeding.
Keywords :
compliance control; control system analysis; factory automation; industrial manipulators; robotic assembly; active control; assembly automation; assembly process; dynamic analysis; dynamic remote center; part-mating dynamics; passive compliance; peg-in-hole mating; remote center compliance; robot manipulators; sensitivity analysis; Aerodynamics; Aerospace control; Australia; Automatic control; Force control; Jamming; Manipulator dynamics; Robotic assembly; Robotics and automation; Robots;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222162
