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

Volume

3

fYear

2003

fDate

16-20 July 2003

Firstpage

1168

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222162

Filename

1222162