Chamferless robotic assembly using random search

The authors have developed a robotic assembly system comprising a position-controlled planar actuator and a passive compliant device capable of mating chamferless cylindrical parts. The system is attached to the robot wrist and performs random search to absorb the misalignment between pieces: a combination of random movement and passive compliance permits to realize the insertion task. Pseudo-random binary signals are used to generate random movement. Results show that the system has an interesting performance: high insertion speed is possible when mating low-clearance chamferless parts at a high success rate, while large initial errors are tolerated.<>