Title :
Analysis of dynamic insertion type assembly for manufacturing automation
Author :
Shahinpoor, M. ; Zohoor, H.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
Governing equations for the dynamics of peg-in-hole insertion for six distinct cases are derived. It is shown that there exist generalized inequalities that govern the processes of successfully inserting a peg in a hole in computer-aided assembly processes. Exact inequalities are obtained for no-wedging and/or no-jamming conditions in computer-controlled dynamic assembly. An algorithm is also described for successful implementation of computer-aided dynamic insertion through the use of optimal trajectories pertaining to the dynamic motion of the peg in the hole
Keywords :
assembling; factory automation; manufacturing computer control; dynamic insertion type assembly; dynamic motion; factory automation; inequalities; manufacturing computer control; optimal trajectories; peg-in-hole insertion; Assembly systems; Computer errors; Computer integrated manufacturing; Equations; Error correction; Flexible manufacturing systems; Group technology; Manufacturing automation; Manufacturing processes; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131993
