Title :
3D analysis of contact in peg-hole insertion
Author :
Tsuruoka, Takashi ; Fujioka, Hiroyuki ; Moriyama, Toshihiko ; Mayeda, Hirokazu
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan
Abstract :
Contact types of chamfered cylindrical peg and cylindrical hole are analyzed in three dimensional space heading for the task understanding of insertion of the peg into the hole. Considering deviation and tilt angle of the center axis of the peg to center axis of the hole as parameters, relationships between the contact types and the parameters are investigated and a region map of the contact types in the parameter space is shown. These results are a basis for force analysis of the insertion operation
Keywords :
assembling; force control; mechanical contact; production control; 3D space heading; assembly; chamfered cylindrical peg; contact type; deviation; force analysis; parameter space; peg-hole insertion; tilt angle; Assembly; Geometry; Motion analysis; Nose; Orbital robotics;
Conference_Titel :
Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on
Conference_Location :
Marina del Rey, CA
Print_ISBN :
0-7803-3820-0
DOI :
10.1109/ISATP.1997.615389
