Information for assembly from impacts

A method to determine gripper parameters in situ is given, and first results from model tests in plane motion are presented. Robotic assembly is associated with impacts on the gripper. These may be modeled to find contact force position and line of action in the gripper, relative orientation between gripper and contacted surface and conditions at the point of insertion. During impact the acceleration pole maps contact point kinematics which may be related to the conventional impact diagram. Kinematic modeling, dynamic and geometric modeling, and the impact diagram are discussed. The analysis shows that the point of application of the impacting force and its line of action may be found from measured accelerations