Preliminary Study on Utilization of Impact Force for Snap-Fit Assembly

The purpose of this study is to evaluate the inserting operation by impact force through the robot. Applying the most intuitive motion, like human hand, to insert the electronic onto the PCB, the robot need to move up to a desired high acceleration and only torque controlled mode is adequate for manipulating. However, the position mode presents the better accuracy for positioning than the torque control mode. Therefore, this study will conduct the assembly process by switching between position and torque controlled modes to achieve the inserting operation. The results show the feasibility of applying impact force on inserting operation and the measured acceleration is around 1.9 g that is closed to the computed input acceleration.