In most assembly tasks involving mating of parts, industrial robots are not equipped with special compliant devices such as a remote center compliant hand. It is useful to know how the mating force and part movement are affected by assembly compliance, which depends upon robot configuration, and by other assembly parameters such as initial position errors, clearance between mating parts, etc. Such knowledge is helpful to the design of the layout of an assembly cell, specification of robot accuracy, specification of manufacturing tolerance, and so on. This paper derives the mating force and part movement in the mating of rigid cylindrical parts by an industrial manipulator with its own compliance, using a planar peg-in-hole insertion model. The derived mathematical relations are experimentally verified by performing insertion tests with a SCARA-type robot.

1.
Asada
H.
, and
Kakumoto
Y.
,
1990
, “
The Dynamic Analysis and Design of a High-Speed Insertion Hand Using the Generalized Centroid and Virtual Mass
,”
ASME Journal of Dynamic Systems, Measurement, and Control
, Vol.
112
, pp.
120
125
.
2.
Caine, M. E., Lozano-Perez, T., and Seering, W. P., 1989, “Assembly Strategies for Chamferless Parts,” Proceedings of IEEE Conference on Robotics and Automation, pp. 472–477.
3.
Cutkosky
M. R.
, and
Kao
I.
,
1989
, “
Computing and Controlling the Compliance of a Robotic Hand
,”
IEEE Transactions on Robotics and Automation
, Vol.
5
, pp.
151
165
.
4.
Drake, S. H., 1977, “Using Compliance in lieu of Sensory Feedback for Automatic Assembly,” S.D. Thesis, MIT, Cambridge, MA.
5.
Gottschlich
S. N.
, and
Kak
A.
,
1989
, “
A Dynamic Approach to High-Precision Parts Mating
,”
IEEE Transactions on Systems, Man, and Cybernetics
, Vol.
19
, pp.
797
810
.
6.
Gustavson
R. E.
,
1985
, “
A Theory for the Three-Dimensional Mating of Chamfered Cylindrical Parts
,”
ASME Journal of Mechanisms, Transmissions, and Automation in Design
, Vol.
107
, pp.
112
122
.
7.
Hoffman, B. D., Pollak, S. H., and Weissman, B., 1984, “Vibration Insertion Process: A New Approach to Nonstandard Component Insertion,” SME Paper No. MS84-371.
8.
IBM 7535/7540 Manufacturing System Hardware Library, 1983, 2nd Edition, IBM Corporation.
9.
Jeong
K. W.
, and
Cho
H. S.
,
1989
, “
Development of a Pneumatic Vibratory Wrist for Robotic Assembly
,”
Robotica
, Vol.
7
, pp.
9
16
.
10.
Ji
Z.
,
Leu
M. C.
, and
Lilienthal
P. F.
,
1992
, “
Vision Based Tool Calibration and Accuracy Improvement for Assembly Robots
,”
Precision Engineering
, Vol.
14
, No.
3
, pp.
168
175
.
11.
Jia, Y.-L., 1989, “Analytical and Experimental Study of Robotic Peg-in-Hole Insertion,” M.S. Thesis, New Jersey Institute of Technology, Newark, NJ.
12.
Leu
M. C.
,
Dukovski
V.
, and
Wang
K. K.
,
1987
, “
Effect of Mechanical Compliance on Deflection of Robot Manipulators
,”
Annals of the CIRP
, Vol.
36
, pp.
305
309
.
13.
Leu, M. C., and Liu, Y., 1991, “Modeling and Analysis of Parts Mating in Vibration Assisted Compliant Assembly,” Proceedings of ASME Flexible Assembly Systems Conference, DE-Vol. 33, pp. 9–20.
14.
Leu
M. C.
, and
Katz
Z.
,
1994
, “
Vibration Assisted Engagement for Parts Mating
,”
CIRP Annals
, Vol.
43
/
1
, pp.
27
30
.
15.
Mason
M. T.
,
1981
, “
Compliance and Force Control for Computer Controlled Manipulators
,”
IEEE Transactions on Systems, Man, and Cybernetics
, Vol.
11
, pp.
418
432
.
16.
McCarragher
B. J.
, and
Asada
H.
,
1993
, “
Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly
,”
ASME Journal of Dynamic Systems, Measurement, and Control
, Vol.
115
, pp.
261
269
.
17.
Nevins, J. L., and Whitney, D. E., 1989, Concurrent Design of Products and Processes, McGraw-Hill Company.
18.
Ohwovoriole, M. S., 1980, “An Extension of Screw Theory and Its Application to the Automation of Industrial Assemblies,” Ph.D. Thesis, Stanford University, Palo Alto, CA.
19.
Pai
D.
, and
Leu
M. C.
,
1991
, “
Uncertainties and Compliance of Robot Manipulators
,”
International Journal of Robotics Research
, Vol.
10
, pp.
200
213
.
20.
Peshkin
M. A.
,
1990
, “
Programmed Compliance for Error Corrective Assembly
,”
IEEE Transactions on Robotics and Automation
, Vol.
6
, pp.
473
482
.
21.
Simunovic, S., 1979, “An Information Approach to Parts Mating,” S. D. Thesis, MIT, Cambridge, MA.
22.
Sturges
R. H.
,
1988
, “
A Three-Dimensional Assembly Task Quantification with Application to Machine Dexterity
,”
International Journal of Robotics Research
, Vol.
7
, No.
4
, pp.
34
78
.
23.
Wang, Y., and Mason, M. T., 1987, “Modeling Impact Dynamics for Robotic Operations,” Proceedings of IEEE Conference on Robotics and Automation, pp. 678–685.
24.
Whitney
D. E.
,
1982
, “
Quasi-Static Assembly of Compliantly Supported Rigid Parts
,”
ASME Journal of Dynamic Systems, Measurement and Control
, Vol.
104
, pp.
65
77
.
This content is only available via PDF.
You do not currently have access to this content.